A suspended track robot

Abstract

The present invention discloses a suspended track robot, which relates to the technical field of mobile robots, and comprises a driving assembly, which is movably arranged on a track, the top of the track is fixed to a top plate by a push rod, the track is an I-shaped track, and comprises an upper plate body, a lower plate body, and a connecting piece connecting the upper plate body and the lower plate body, wherein the driving assembly is movably arranged on the lower plate body and has power, a load-bearing assembly is movably arranged on the upper plate body, a manipulator is arranged below the load-bearing assembly, and the load-bearing assembly is driven by the driving assembly.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, in particular to a suspended track robot. Background Art

[0002] Suspended robots are widely used due to their high flexibility and high space utilization. However, existing suspended robots are often supported by overhead tracks, in which the power system of the suspended robot is mounted on the track, and other components of the suspended robot are integrated below the power system, resulting in a poor output environment for the power system and high requirements for its motor, especially for palletizing robots, and the overall cost is also high.

[0003] Therefore, it is necessary to provide a suspended track robot to solve the problems raised in the above background technology. Summary of the invention

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a suspended track robot, comprising a driving assembly, which is movably arranged on the track, the top of the track is fixed to the top plate by a push rod, the track is an I-shaped track, comprising an upper plate body, a lower plate body and a connecting piece connecting the upper plate body and the lower plate body, wherein the driving assembly is movably arranged on the lower plate body and has power, a load-bearing assembly is movably arranged on the upper plate body, a manipulator is arranged below the load-bearing assembly, and the load-bearing assembly is driven by the driving assembly.

[0005] Further, as a preference, the driving assembly includes a moving seat, a driving wheel and a tensioning wheel, wherein the moving seat is C-shaped, and has two symmetrically distributed driving wheels rotatably arranged thereon, the driving wheels contacting the upper surface of the lower plate body, a synchronous wheel is coaxially fixed to one side of the driving wheel, the synchronous wheel is connected to the driving wheel by a synchronous belt, the driving wheel is fixed to the output end of the double-headed motor, the double-headed motor is fixed on the moving seat, and a tensioning wheel is also rotatably arranged in the moving seat, and the tensioning wheel contacts the lower surface of the lower plate body.

[0006] Further, preferably, the robot is a palletizing robot, and an auxiliary loading component is further provided at the bottom of the load-bearing component, and the auxiliary loading component is used to provide auxiliary loading for the palletizing robot.

[0007] Further, as a preference, the manipulator includes a mounting base, a first arm body and a second arm body, wherein the mounting base is fixed to the bottom of the load-bearing assembly, and the mounting base has an output end that rotates around its own axis, the output end is rotatably connected to the first arm body, the first arm body is rotatably connected to the second arm body, and the bottom of the second arm body is rotatably connected to a clamping claw.

[0008] Further, as a preference, the auxiliary loading assembly includes a support arm, a slide rail, a slide seat and a loading plate, wherein the support arm is fixed below the load-bearing assembly, a slide rail is fixed to the bottom of the support arm, a slide seat is slidably arranged on the slide rail, the slide seat is also connected to the second telescopic rod, a loading plate is hinged to the bottom of the slide seat, an end of the loading plate is hinged to the first telescopic rod, and the first telescopic rod and the second telescopic rod are both hinged to the support arm.

[0009] Further, as a preference, the load-bearing assembly includes load wheels, connecting arms and a mounting plate, wherein two symmetrically distributed connecting arms are fixed to the mounting plate, and a load wheel is rotatably provided at one end of the connecting arm away from the mounting plate, and the load wheel contacts the upper surface of the upper plate body.

[0010] Further, as a preference, connecting rods are fixed on both sides of the driving assembly, and the connecting rods are connected to the load-bearing assembly by means of a delayed synchronization assembly, and the delayed synchronization assembly is configured as follows: when the driving assembly is started and initially moves, the load-bearing assembly remains stationary, when the driving assembly changes from a moving state to a stationary state, the load-bearing assembly remains synchronously stationary, and when the driving assembly moves normally, the load-bearing assembly moves synchronously.

[0011] Further, as a preference, the delay synchronization component includes an outer warehouse, an inner slide seat, a connecting head and a delay rope, wherein the outer warehouse is connected to a connecting rod, an inner slide seat is slidably connected in the outer warehouse, connecting heads are fixed at both upper and lower ends of the inner slide seat, the connecting heads extend out of the outer warehouse to be connected to the load-bearing component, a plurality of delay ropes are connected to both sides of the inner slide seat, one end of the delay rope away from the inner slide seat extends out of the outer warehouse to be connected to the telescopic end of the control rod, and the control rod is fixed to one side of the outer warehouse.

[0012] Compared with the prior art, the present invention provides a suspended track robot, which has the following beneficial effects:

[0013] In an embodiment of the present invention, the load-bearing and moving movements of the suspended rail robot are distributed to two components, wherein the load-bearing component is carried on the upper plate body rather than being carried by the driving component. In this way, the driving component is only responsible for the moving movement, and the load-bearing component is only responsible for the load-bearing movement. This ensures the stability of each, and the driving efficiency of the driving component is higher, and the requirements for the selection of the motor are lower, and the overall manufacturing cost is lower.

[0014] In an embodiment of the present invention, the delayed synchronization component is configured as follows: when the driving component is started and initially moves, the load-bearing component remains stationary; when the driving component changes from a moving state to a stationary state, the load-bearing component becomes synchronously stationary; when the driving component moves normally, the load-bearing component moves synchronously, so that when the motor is just started, the load-bearing component does not serve as a load of the driving component, while also ensuring the accuracy of the movement of the load-bearing component. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A schematic diagram of the structure of a suspended track robot Figure 1 ;

[0016] Figure 2 A schematic diagram of the structure of a suspended track robot Figure 2 ;

[0017] Figure 3 It is a schematic diagram of the structure of a load-bearing component and a driving component in a suspended track robot;

[0018] Figure 4 It is a schematic diagram of the structure of a delayed synchronization component in a suspended track robot;

[0019] Figure 5 It is a structural schematic diagram of a manipulator and an auxiliary loading component in a suspended track robot;

[0020] In the figure: 1. track; 2. push rod; 3. load-bearing assembly; 4. driving assembly; 5. connecting rod; 6. delay synchronization assembly; 7. manipulator; 8. auxiliary loading assembly; 31. load-bearing wheel; 32. connecting arm; 33. mounting plate; 41. moving seat; 42. driving wheel; 43. synchronization wheel; 44. double-headed motor; 45. tensioning wheel; 61. outer compartment; 62. inner slide seat; 63. connecting head; 64. delay rope; 65. control rod; 71. mounting seat; 72. first arm body; 73. second arm body; 74. clamping claw; 81. supporting arm; 82. slide rail; 83. slide seat; 84. first telescopic rod; 85. second telescopic rod; 86. loading plate. DETAILED DESCRIPTION

[0021] Example: See Figures 1 to 5 In an embodiment of the present invention, a suspended track robot includes a driving assembly 4, which is movably arranged on a track 1, the top of the track 1 is fixed to the top plate by a top rod 2, the track 1 is an I-shaped track, including an upper plate body, a lower plate body and a connecting piece connecting the upper plate body and the lower plate body, wherein the driving assembly 4 is movably arranged on the lower plate body and has power, and a load-bearing assembly 3 is movably arranged on the upper plate body,

[0022] That is to say, in this embodiment, the load-bearing component 3 is carried on the upper plate body instead of being carried by the driving component 4. In this way, the driving component 4 is only responsible for the moving action, and the load-bearing component 3 is only responsible for the load-bearing action. Furthermore, in this embodiment, the load-bearing and moving actions of the suspended track robot are distributed to two components, which can ensure the stability of each component, and the driving efficiency of the driving component is higher, and the requirements for the selection of the motor are lower, and the overall manufacturing cost is lower.

[0023] In addition, a manipulator 7 is provided below the load-bearing assembly 3 , and the load-bearing assembly 3 is driven by the driving assembly 4 .

[0024] The robot can be equipped with a suitable robot according to actual production needs, such as welding robots, palletizing robots and grinding robots.

[0025] In this embodiment, the robot 7 is a palletizing robot, and an auxiliary loading component 8 is further provided at the bottom of the load-bearing component 3, and the auxiliary loading component 8 is used to provide auxiliary loading for the palletizing robot.

[0026] In fact, the palletizing robot can grab the items by itself, and for items with larger mass, the auxiliary loading component 8 can be used for auxiliary loading;

[0027] Specifically, if Figure 5 The manipulator 7 includes a mounting base 71, a first arm body 72 and a second arm body 73, wherein the mounting base 71 is fixed to the bottom of the load-bearing component 3, and the mounting base 71 has an output end that rotates around its own axis, the output end is rotatably connected to the first arm body 72, the first arm body 72 is rotatably connected to the second arm body 73, and the bottom of the second arm body 73 is rotatably connected to a clamping claw 74.

[0028] The auxiliary loading component 8 includes a support arm 81, a slide rail 82, a slide seat 83 and a loading plate 86, wherein the support arm 81 is fixed below the load-bearing component 3, a slide rail 82 is fixed to the bottom of the support arm 81, a slide seat 83 is slidably arranged on the slide rail 82, the slide seat 83 is also connected to the second telescopic rod 85, a loading plate 86 is hinged to the bottom of the slide seat 83, and the end of the loading plate 86 is hinged to the first telescopic rod 84, and the first telescopic rod 84 and the second telescopic rod 85 are both hinged to the support arm 81.

[0029] During implementation, when the first telescopic rod and the second telescopic rod are extended or contracted synchronously, the height of the carrier plate is adjusted accordingly to accommodate different items, and when the first telescopic rod is extended or contracted, the angle of the carrier plate is adjusted accordingly to facilitate receiving or releasing items from the robot 7.

[0030] It should be noted that the auxiliary loading assembly 8 only provides auxiliary loading, and after the manipulator 7 grabs the object, its grabbing action does not stop, and the stable loading of the object is achieved through the cooperation of the manipulator 7 and the auxiliary loading assembly 8.

[0031] In this embodiment, Figure 3 The driving assembly 4 includes a moving seat 41, a driving wheel 42 and a tensioning wheel 45, wherein the moving seat 41 is C-shaped, and two symmetrically distributed driving wheels 42 are rotatably arranged on it, and the driving wheels 42 contact the upper surface of the lower plate body, and a synchronous wheel 43 is coaxially fixed to one side of the driving wheel 42, and the synchronous wheel 43 is connected to the driving wheel by a synchronous belt. The driving wheel is fixed to the output end of the double-headed motor 44, and the double-headed motor is fixed on the moving seat 41. A tensioning wheel 45 is also rotatably arranged in the moving seat 41, and the tensioning wheel 45 contacts the lower surface of the lower plate body.

[0032] It should be noted that, in the present embodiment, a tensioning wheel 45 is rotatably provided in the movable seat 41, and the tensioning wheel 45 contacts the lower surface of the lower plate body. By configuring the tensioning wheel 45, the reaction force can be utilized to press the driving wheel 42 against the lower plate body, thereby increasing the friction between the driving wheel and the lower plate body and improving the stability of its movement. Moreover, this friction is not particularly high, thereby improving the overall maneuverability and reducing the requirement for the motor driving force while ensuring the stability of movement.

[0033] In this embodiment, the load-bearing assembly 3 includes a load wheel 31, a connecting arm 32 and a mounting plate 33, wherein two symmetrically distributed connecting arms 32 are fixed on the mounting plate 33, and a load wheel 31 is rotatably provided at one end of the connecting arm 32 away from the mounting plate 33, and the load wheel 31 contacts the upper surface of the upper plate body.

[0034] In addition, connecting rods 5 are fixed on both sides of the driving component 4, and the connecting rods 5 are connected to the load-bearing component 3 by using a delayed synchronization component 6. The delayed synchronization component 6 is configured as follows: when the driving component 4 is started and initially moves, the load-bearing component 3 remains stationary; when the driving component 4 changes from a moving state to a stationary state, the load-bearing component 3 remains synchronously stationary; when the driving component 4 moves normally, the load-bearing component 3 moves synchronously.

[0035] It should be explained that the motor has a certain starting torque, which refers to the torque output by the motor shaft when the motor is just powered on and has not yet started to rotate. Among them, for an AC motor, the starting torque is small, and its starting current is also small, so it can be started directly. However, since the starting torque of the AC motor is also small, it is more difficult to start with load. In this embodiment, when the drive component 4 is started and initially moved, the load component 3 remains stationary, that is, when the drive component 4 is started and initially moved, the load component 3 does not serve as the load of the drive component 4. Specifically, in this embodiment, Figure 4 The delay synchronization component 6 includes an outer bin 61, an inner slide seat 62, a connector 63 and a delay rope 64, wherein the outer bin 61 is connected to the connecting rod 5, the inner slide seat 62 is slidably connected in the outer bin 61, and the upper and lower ends of the inner slide seat 62 are fixed with connectors 63, and the connector 63 extends out of the outer bin 61 to be connected to the load-bearing component 3, that is, the upper and lower surfaces of the outer bin 61 are provided with clearance grooves for allowing the connector 63 to extend out of the outer bin 61;

[0036] A plurality of delay ropes 64 are connected to both sides of the inner slide seat 62 . One end of the delay rope 64 away from the inner slide seat 62 extends out of the outer bin 61 and is connected to the telescopic end of a control rod 65 . The control rod 65 is fixed to one side of the outer bin 61 .

[0037] Therefore, in practice, when the driving assembly 4 is started and initially moves, it feeds back the movement action to the outer bin 61 through the connecting rod 5. At this time, the control rod is extended, the length of the delay rope in the outer bin increases, and the outer bin 61 moves with the movement of the connecting rod 5. After moving a certain distance, the inner slide 62 is driven to move through the delay rope. At this time, the inner slide 62 drives the load-bearing assembly 3 to move. That is, when the driving assembly 4 is started and initially moves, the load-bearing assembly 3 remains stationary.

[0038] In order to improve the precise control of the position of the load-bearing component, when the load-bearing component moves with the movement of the driving component 4, the control rod is gradually reset, and the length of the delay rope located in the outer warehouse is reduced. At this time, the relative position between the inner slide and the outer warehouse is gradually restored to the initial state. At the same time, the load-bearing component 3 can keep synchronous movement with the driving component 4. In this state, when the driving component 4 changes from the moving state to the stationary state, the load-bearing component 3 will be synchronously stationary.

[0039] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A suspended track robot, comprising a drive assembly (4) movably arranged on a track (1), wherein the top of the track (1) is fixed to a top plate by a push rod (2), characterized in that: The track (1) is an I-shaped track, comprising an upper plate, a lower plate and a connecting piece connecting the upper plate and the lower plate, wherein the driving assembly (4) is movably arranged on the lower plate and has power, a load-bearing assembly (3) is movably arranged on the upper plate, a manipulator (7) is arranged below the load-bearing assembly (3), and the load-bearing assembly (3) is driven by the driving assembly (4); The driving assembly (4) comprises a moving seat (41), a driving wheel (42) and a tensioning wheel (45), wherein the moving seat (41) is C-shaped, and two symmetrically distributed driving wheels (42) are rotatably arranged on the moving seat, and the driving wheels (42) contact the upper surface of the lower plate body, and a synchronous wheel (43) is coaxially fixed on one side of the driving wheel (42), and the synchronous wheel (43) is connected to the driving wheel by a synchronous belt, and the driving wheel is fixed to the output end of a double-headed motor (44), and the double-headed motor is fixed on the moving seat (41), and a tensioning wheel (45) is also rotatably arranged in the moving seat (41), and the tensioning wheel (45) contacts the lower surface of the lower plate body; The load-bearing assembly (3) comprises a load-bearing wheel (31), a connecting arm (32) and a mounting plate (33), wherein two symmetrically distributed connecting arms (32) are fixed on the mounting plate (33), and a load-bearing wheel (31) is rotatably arranged at one end of the connecting arm (32) away from the mounting plate (33), and the load-bearing wheel (31) contacts the upper surface of the upper plate body; Connecting rods (5) are fixed on both sides of the driving assembly (4), and the connecting rods (5) are connected to the load-bearing assembly (3) by means of a delayed synchronization assembly (6). The delayed synchronization assembly (6) is configured such that: when the driving assembly (4) is started and initially moves, the load-bearing assembly (3) remains stationary; when the driving assembly (4) changes from a moving state to a stationary state, the load-bearing assembly (3) becomes stationary synchronously; and when the driving assembly (4) moves normally, the load-bearing assembly (3) moves synchronously; The delay synchronization component (6) includes an outer warehouse (61), an inner slide seat (62), a connector (63) and a delay rope (64), wherein the outer warehouse (61) is connected to the connecting rod (5), the inner slide seat (62) is slidably connected in the outer warehouse (61), the upper and lower ends of the inner slide seat (62) are fixed with connectors (63), the connector (63) extends out of the outer warehouse (61) to be connected to the load-bearing component (3), and a plurality of delay ropes (64) are connected to both sides of the inner slide seat (62), and one end of the delay rope (64) away from the inner slide seat (62) extends out of the outer warehouse (61) to be connected to the telescopic end of the control rod (65), and the control rod (65) is fixed to one side of the outer warehouse (61).

2. A suspended track robot according to claim 1, characterized in that: The manipulator (7) is a palletizing manipulator, and an auxiliary loading component (8) is also provided at the bottom of the load-bearing component (3), and the auxiliary loading component (8) is used to provide auxiliary loading for the palletizing manipulator.

3. A suspended track robot according to claim 1, characterized in that: The manipulator (7) comprises a mounting seat (71), a first arm body (72) and a second arm body (73), wherein the mounting seat (71) is fixed to the bottom of the load-bearing component (3), and the mounting seat (71) has an output end that rotates around its own axis, the output end is rotatably connected to the first arm body (72), the first arm body (72) is rotatably connected to the second arm body (73), and the bottom of the second arm body (73) is rotatably connected to a clamping claw (74).

4. A suspended track robot according to claim 2, characterized in that: The auxiliary loading component (8) comprises a support arm (81), a slide rail (82), a slide seat (83) and a loading plate (86), wherein the support arm (81) is fixed below the load-bearing component (3), a slide rail (82) is fixed at the bottom of the support arm (81), a slide seat (83) is slidably arranged on the slide rail (82), the slide seat (83) is also connected to the second telescopic rod (85), a loading plate (86) is hinged at the bottom of the slide seat (83), the end of the loading plate (86) is hinged to the first telescopic rod (84), and the first telescopic rod (84) and the second telescopic rod (85) are both hinged to the support arm (81).

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