A cable-driven aerial suspended rail robot

Abstract

The present invention relates to a cable-driven aerial suspended rail robot, which includes a rail, a trolley, a grasping device and a cable drive device; the rail includes a main rail and a feeding rail, and a reversing paddle is provided at the connection between the main rail and the feeding rail; the cable drive device includes a first cable and a second cable, the first cable is arranged along the inner side of the main rail, and the second cable is arranged along the outer sides of the main rail and the feeding rail; the trolley includes a first trolley and a second trolley which have the same structure and are arranged in the front-rear direction, and both the first trolley and the second trolley respectively include a vehicle body and a hook that cooperates with the first cable or the second cable; the grasping device includes an upper box body, a lower box body and a grasping frame which are sequentially arranged from top to bottom, and the grasping frame is connected to a reel in the lower box body through a third cable. It can be seen from the above technical solutions that the present invention adopts flexible drive of cables, has a relatively compact structure, a large working space, low system power consumption and a simple structure.

Description

Technical Field

[0001] The present invention relates to the field of automated transportation systems, and particularly to a cable-driven aerial suspended rail robot. Background Art

[0002] Nowadays, in order to improve efficiency, enterprises have an increasing demand for automated transportation systems. The continuous development of ground handling systems has solved some problems to a certain extent. However, for some enterprises, the ground space is occupied and it is impossible to arrange a ground handling system. The aerial track trolley track is arranged in the air, which can avoid this problem and greatly improve the utilization rate of the factory building space and the material transportation efficiency. In the traditional aerial track transmission system, the track structure is complex, and the lines arranged for the driving trolleys are prone to danger. At the same time, in the transmission system, the requirement for the accuracy of the working position of the equipment is strict, and it is not allowed to change the position casually. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above disadvantages and provide a cable-driven aerial suspended rail robot.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions: including a track, a trolley running on the track, a grasping device connected to the lower part of the trolley, and a cable-driven device for providing power for the trolley to run;

[0005] The track includes a main track and a feeding track bypassing the main track. A reversing flap for controlling the on-off state of the main track and the feeding track is provided at the connection of the main track and the feeding track. The main track is a closed-loop circuit and the trolley runs unidirectionally on the main track. The trolley runs bidirectionally on the feeding track;

[0006] The cable-driven device includes a first cable, a first pulley group cooperating with the first cable, a first motor connected to the driving wheel in the first pulley group, a second cable, a second pulley group cooperating with the second cable, and a second motor connected to the driving wheel in the second pulley group. Both the first cable and the second cable are closed loops and are both above the track and in the same horizontal plane. The first cable is arranged along the inner side of the main track, and the second cable is arranged along the outer sides of the main track and the feeding track;

[0007] The described trolley includes a first trolley and a second trolley which have the same structure and are arranged in the front-back direction. The first trolley and the second trolley each include a vehicle body, wheels that form a rolling fit with the track, and a grab hook provided on the vehicle body and cooperating with the first flexible cable or the second flexible cable. The grab hook clamps or releases the first flexible cable or the second flexible cable under the action of a driving device. During the operation of the trolley, at least one of the grab hooks on the first trolley and the second trolley is always in the state of grasping the first flexible cable or the second flexible cable to obtain the driving force for advancement;

[0008] The described grabbing device includes an upper box body, a lower box body, and a grabbing frame arranged successively from top to bottom. The top of the upper box body is rotatably connected to the connecting shaft on the vehicle bodies of the first trolley and the second trolley. The lower box body is rotatably connected to the upper box body. The grabbing frame is connected to the drum in the lower box body through a third flexible cable. The drum drives the third flexible cable to retract and extend under the drive of a power transmission device to realize the up and down movement of the grabbing frame.

[0009] The described grab hook includes a grab hook platform fixedly connected above the vehicle body, a support shaft perpendicular to the grab hook platform, an upper grab hook and a lower grab hook rotatably connected to the support shaft. The support shaft includes a first shaft section, a second shaft section, a third shaft section, and a fourth shaft section arranged successively. The diameter of the first shaft section is smaller than that of the second shaft section, and the diameters of the second shaft section, the third shaft section, and the fourth shaft section decrease successively. The upper grab hook is fixed on the first shaft section, and a support shaft upper cover connected to the end of the first shaft section is also provided above the upper grab hook. The lower grab hook is fixed on the third shaft section. A stepped hole is provided on the grab hook platform, and the shoulder formed by the third shaft section and the fourth shaft section cooperates with the stepped hole. The fourth shaft section passes through the stepped hole and then the support shaft is fixed on the grab hook platform through a support shaft lock. A support spring is also sleeved on the third shaft section. One end of the support spring abuts against the bottom surface of the lower grab hook, and the other end of the support spring abuts against the stepped hole.

[0010] The described upper grab hook includes a grab hook disc sleeved on the first shaft section and an upper grab hook body fixed on the side surface of the grab hook disc. Both the grab hook disc and the support shaft upper cover are circular structures, and the support shaft upper cover is located above the grab hook disc. Four groups of semi-circular grooves are evenly spaced inward on the circumferential surface of the support shaft upper cover. A positioning pin hole is also provided on the grab hook disc. The distance from the center of the positioning pin hole to the support shaft is equal to the distance from the center of the semi-circular groove to the support shaft.

[0011] The described lower grab hook includes a circular bottom plate sleeved on the third shaft section, a gear fixed on the upper plate surface of the circular bottom plate, and a lower grab hook body fixed on the upper end surface of the gear. The upper grab hook body is provided with a first arc-shaped recess inward, and the lower grab hook body is provided with a second arc-shaped recess inward. When the upper grab hook body and the lower grab hook body are in contact with each other, the first arc-shaped recess and the second arc-shaped recess are aligned to form a clamping portion for the first flexible cable or the second flexible cable. The diameter of the circular bottom plate is larger than the diameter of the gear. The lower grab hook body is provided with a positioning pin that matches the positioning pin hole. When the upper grab hook and the lower grab hook clamp the first flexible cable or the second flexible cable, the top end of the positioning pin extends into the semi-circular groove to limit the rotation of the upper grab hook.

[0012] The described driving device includes a motor reducer fixed on the grab hook platform, a driving shaft connected to the output end of the motor reducer, a driving wheel fixed on the driving shaft, and a gear end cover connected to the driving shaft for limiting the axial position of the driving wheel. The driving shaft is perpendicular to the grab hook platform. The driving wheel is an incomplete gear with one-quarter of the teeth. An arc-shaped convex platform is provided along the rim direction on the lower end surface of the driving wheel. The position of the arc-shaped convex platform corresponds to the position of the teeth, and the length of the arc-shaped convex platform is greater than the length of one-quarter of the teeth. The height on both sides of the arc-shaped convex platform is lower than the height in the middle. The maximum height of the arc-shaped convex platform coincides with the height at which the positioning pin extends into the semi-circular groove. When the motor reducer rotates, one side of the arc-shaped convex platform first contacts the upper surface of the circular bottom plate to press down the circular bottom plate to drive the lower grab hook to move downward. At this time, the upper grab hook and the lower grab hook are in a state of releasing the first flexible cable or the second flexible cable. As the driving wheel meshes with the gear, the upper grab hook and the lower grab hook rotate simultaneously to form a state of disengaging from the first flexible cable or the second flexible cable.

[0013] A torque motor, a flange, a crossed roller bearing, and a rotating disk are provided in the upper box body. The outer ring of the motor of the torque motor is connected to the inner ring of the crossed roller bearing through the flange. The inner ring of the crossed roller bearing is simultaneously connected to the rotating disk. The rotating disk is fixedly connected to the top of the lower box body through bolts. The outer rings of the torque motor and the crossed roller bearing are both fixedly connected to the inside of the upper box body.

[0014] The described power transmission device includes a motor, a driving gear coaxially connected to the output shaft of the motor, and a transmission component. The transmission component includes a drum, a drum shaft, and a support pulley. The drum rotates synchronously with the drum shaft and the drum can move axially along the drum shaft. One end of the drum shaft is connected to the driven gear through a key, and the other end of the drum shaft is coaxially connected to the first pulley. The driven gear meshes with the driving gear. One end of the third flexible cable is connected to the grabbing frame, and the other end of the third flexible cable is wound around the support pulley and then connected to the drum.

[0015] A rope winder is also provided beside the transmission assembly. The rope winder includes a lead screw arranged parallel to the drum shaft. One end of the lead screw is provided with a second pulley connected to the first pulley through a synchronous belt. The other end of the lead screw is installed on the bottom plate of the lower box body through a bearing. The lead screw is provided with a first slider and a second slider that cooperate with the lead screw. There is a gap between the first slider and the second slider. The first slider is fixedly connected with a first rope winder side plate at the end away from the second slider. The second slider is fixedly connected with a second rope winder side plate at the end away from the first slider. The other ends of the first rope winder side plate and the second rope winder side plate are both sleeved on the drum shaft, and the first rope winder side plate and the second rope winder side plate are respectively attached to both ends of the drum to form a clamping force on the drum.

[0016] A support plate is provided inside the lower box body. The motor is fixed on the support plate. The drum shaft and the lead screw are respectively rotationally connected to the support plate and the bottom plate of the lower box body through bearings. The first pulley and the second pulley are both located above the support plate. The support pulley is fixed on the bottom plate of the lower box body through a pulley seat. A through hole for the third flexible cable to pass through is provided on the bottom plate of the lower box body;

[0017] The grasping frame is a regular hexagon structure. Six groups of the transmission assembly, the third flexible cables and the rope winders are correspondingly arranged. The driven gears in the six groups of transmission assemblies are evenly arranged circumferentially around the driving gear with the driving gear as the center. The six groups of third flexible cables are respectively connected to the six vertices of the grasping frame.

[0018] The reversing flap includes a first flap, a second flap and a third flap. One ends of the first flap, the second flap and the third flap are hinged through a connecting shaft. The other ends of the first flap, the second flap and the third flap are respectively provided with a first magnet, a second magnet and a third magnet. First magnetic switches and second magnetic switches that cooperate with the first magnet, a third magnetic switch and a fourth magnetic switch that cooperate with the second magnet, and a fifth magnetic switch and a sixth magnetic switch that cooperate with the third magnet are also provided beside the track. By controlling the on-off of the above magnetic switches, the positions of the first flap, the second flap and the third flap can be changed, so as to realize the on-off of the main track and the feeding track.

[0019] It can be seen from the above technical solutions that the present invention adopts flexible cable drive, with a relatively compact structure, a large working space, low system power consumption and a simple structure; the present invention conducts track reversing through a reversing flap, and can choose to drive straight or turn according to the running requirements of the trolley, improving the flexibility of the trolley running and reducing unnecessary energy consumption; the present invention can realize the clamping or loosening of the flexible cable through a grab hook, and can realize the control of the straight running, reversing and parking of the trolley, making the control of the trolley convenient and reliable. Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of the present invention;

[0021] Figure 2 is the commutation schematic diagram of the commutation paddle of the present invention Figure 1 ;

[0022] Figure 3 is the commutation schematic diagram of the commutation paddle of the present invention Figure 2 ;

[0023] Figure 4 is the structural schematic diagram of the trolley and the grasping device of the present invention;

[0024] Figure 5 is the internal structural schematic diagram of the upper box body of the present invention;

[0025] Figure 6 is the structural schematic diagram of the lower box body after removing the top plate of the present invention;

[0026] Figure 7 is the internal structural schematic diagram of the lower box body of the present invention;

[0027] Figure 8 is the structural schematic diagram of the reel and the commutator in the lower box body of the present invention;

[0028] Figure 9 is the structural schematic diagram of the grab hook and the driving device of the present invention;

[0029] Figure 10 is the structural schematic diagram of the trolley of the present invention;

[0030] Figure 11 is the exploded structural schematic diagram of the grab hook of the present invention;

[0031] Figure 12 is the exploded structural schematic diagram of the driving device of the present invention;

[0032] Figure 13 is the structural schematic diagram of the upper cover of the support shaft of the present invention;

[0033] Figure 14 is the structural schematic diagram of the upper grab hook of the present invention;

[0034] Figure 15 is the structural schematic diagram of the lower grab hook of the present invention;

[0035] Figure 16 is the structural schematic of the driving wheel of the present invention Figure 1 ;

[0036] Figure 17 is the structural schematic of the driving wheel of the present invention Figure 2 ;

[0037] Figure 18Schematic structure of the driving wheel of the present invention Figure 3 ;

[0038] Figure 19 Schematic structural diagram of the support shaft of the present invention;

[0039] Figure 20 Schematic structural diagram of the trolley when turning on the main track of the present invention.

[0040] The reference signs in the above-mentioned drawings are: main track 1, feeding track 2, reversing paddle 3, connecting shaft 30, first paddle 31, second paddle 32, third paddle 33, first magnetic switch 34, second magnetic switch 35, third magnetic switch 36, fourth magnetic switch 37, fifth magnetic switch 38, sixth magnetic switch 39, first flexible cable 4, first motor 41, first pulley 42, second flexible cable 5, second motor 51, second pulley 52, first trolley 6A, second trolley 6B, driving device 60, motor reducer 601, driving shaft 602, driving wheel 603, arc-shaped convex platform 6031, gear end cover 604, vehicle body 61, wheel 62, connecting shaft 63, grab platform 64, stepped hole 642, support shaft 641, first shaft section 6411, second shaft section 6412, third shaft section 6413, fourth shaft section 6414, upper grab 65, grab disc 651, positioning pin hole 6511, upper grab body 652, first arc-shaped recess 6521, lower grab 66, circular bottom plate 661, gear 662, lower grab body 663, second arc-shaped recess 6631, positioning pin 6632, support shaft upper cover 67, semi-circular groove 671, support shaft lock 68, support spring 69, upper box body 71, torque motor 711, flange 712, crossed roller bearing 713, rotary disc 714, lower box body 72, support plate 721, grabbing frame 73, third flexible cable 74, rope take-up device 75, lead screw 751, second pulley 752, first slider 753, second slider 754, first rope take-up device side plate 755, second rope take-up device side plate 756, motor 761, driving gear 762, drum 763, drum shaft 764, support pulley 765, driven gear 766, first pulley 767. Detailed implementation manners

[0041] The present invention will be further described below with reference to the drawings:

[0042] As Figure 1 、 Figure 4 shown, a cable-driven aerial suspension track robot includes a track, a trolley running on the track, a grabbing device connected to the lower part of the trolley, and a cable-driven device providing running power for the trolley.

[0043] Further, the track includes a main track 1 and a feeding track 2 that bypasses the main track 1. In this embodiment, both the main track 1 and the feeding track 2 are double-track structures. The main track 1 is a closed-loop circuit and the trolley runs unidirectionally on the main track, that is, the trolley can only run forward on the main track and cannot reverse; the trolley runs bidirectionally on the feeding track 2, that is, the trolley can move forward and backward on the feeding track 2.

[0044] Further, as Figure 2 shown, a reversing flap 3 for controlling the on / off state of the main track 1 and the feeding track 2 is provided at the connection between the main track 1 and the feeding track 2. The reversing flap 3 can control the trolley to enter different tracks. In this embodiment, the reversing flap 3 includes a first flap 31, a second flap 32 and a third flap 33. One ends of the first flap 31, the second flap 32 and the third flap 33 are hinged through a connecting shaft 30. The other ends of the first flap 31, the second flap 32 and the third flap 33 are respectively provided with a first magnet, a second magnet and a third magnet. A first magnetic attraction switch 34 and a second magnetic attraction switch 35, a third magnetic attraction switch 36 and a fourth magnetic attraction switch 37 that cooperate with the second magnet, and a fifth magnetic attraction switch 38 and a sixth magnetic attraction switch 39 that cooperate with the third magnet are also provided beside the track. By controlling the on / off of the above magnetic attraction switches, the positions of the first flap 31, the second flap 32 and the third flap 33 can be changed, so as to realize the on / off of the main track 1 and the feeding track 2.

[0045] Specifically, as Figure 2 shown, when the trolley needs to run in a cycle on the main track 1, the first magnetic attraction switch 34 and the third magnetic attraction switch 36 are powered on, and the rest of the magnetic attraction switches are powered off. At this time, the first magnetic attraction switch 34 and the third magnetic attraction switch 36 respectively attract the first flap 31 and the second flap 32, and the main track 1 and the feeding track 2 are in a disconnected state. In this state, the trolley can run along the main track 1. As Figure 3 shown, when the trolley needs to enter the feeding track 2 from the main track 1, the second magnetic attraction switch 35 and the sixth magnetic attraction switch 39 are powered on, and the rest of the magnetic attraction switches are powered off. At this time, the second magnetic attraction switch 35 and the sixth magnetic attraction switch 39 respectively attract the first flap 31 and the third flap 33, and the main track 1 and the feeding track 2 are in a connected state. In this state, the trolley can turn right from the main track 1 into the feeding track 2. When the trolley needs to return from the feeding track 2 to the main track 1, the fourth magnetic attraction switch 37 and the fifth magnetic attraction switch 38 are powered on, and the rest of the magnetic attraction switches are powered off. At this time, the fourth magnetic attraction switch 37 and the fifth magnetic attraction switch 38 respectively attract the second flap 32 and the third flap 33, and the main track 1 and the feeding track 2 are in a connected state. In this state, the trolley can turn right from the feeding track into the main track 1. Preferably, the first magnetic attraction switch 34 and the third magnetic attraction switch 36 are in a normally-on state, that is, by default, the main track 1 and the feeding track 2 are disconnected. In this state, the trolley can run in a cycle on the main track 1 without reversing.

[0046] Further, the cable drive device includes a first cable 4, a first pulley set cooperating with the first cable 4, a first motor 41 connected to the driving wheel in the first pulley set, a second cable 5, a second pulley set cooperating with the second cable 5, and a second motor 51 connected to the driving wheel in the second pulley set. Both the first cable 4 and the second cable 5 are closed loops and are both above the track and in the same horizontal plane. The first cable 4 is arranged along the inner side of the main track 1, and the second cable 5 is arranged along the outer sides of the main track 1 and the feeding track 2.

[0047] Specifically, in this embodiment, the main track 1 has a square structure. Therefore, the first pulley set includes four first pulleys 42, which are respectively arranged at the four corners of the inner circle of the main track 1. One of the four first pulleys 42 is the driving wheel connected to the first motor 41. The first motor 41 drives this driving wheel to rotate, thereby driving the first cable 4 to rotate. The second pulley set includes seven second pulleys 52. Among them, four second pulleys 52 are respectively arranged at the four corners of the outer circle of the main track 1, two second pulleys 52 are arranged at the connections where the main track 1 enters the feeding track 2 and where the feeding track 2 enters the main track 1, and another second pulley is arranged at the end of the blanking track. One of the seven second pulleys 52 is the driving wheel connected to the second motor 51. The second motor 51 drives this driving wheel to rotate, thereby driving the second cable 5 to rotate.

[0048] Further, as Figure 4 shown, the grasping device includes an upper box body 71, a lower box body 72, and a grasping frame 73 arranged in sequence from top to bottom. The top of the upper box body 71 is rotationally connected to the connecting shaft 63 on the bodies of the first trolley 6A and the second trolley 6B. The lower box body 72 is rotationally connected to the upper box body 71. The grasping frame 73 is connected to the reel 763 in the lower box body 72 through a third cable 74. The reel drives the third cable 74 to retract and extend under the drive of the power transmission device to realize the up and down movement of the grasping frame 73.

[0049] Specifically, as Figure 5 shown, a torque motor 711, a flange plate 712, a crossed roller bearing 713, and a rotary disk 714 are provided in the upper box body 71. The outer ring of the torque motor 711 is connected to the inner ring of the crossed roller bearing 713 through the flange plate 712. The inner ring of the crossed roller bearing 713 is simultaneously connected to the rotary disk 714. The rotary disk 714 is fixedly connected to the top of the lower box body 72 through bolts. The outer rings of both the torque motor 711 and the crossed roller bearing 713 are fixedly connected to the inside of the upper box body 71. When the torque motor 711 operates, it can drive the rotary disk 714 to rotate, thereby driving the lower box body 72 connected to the rotary disk 714 to rotate by a certain angle. The rotation of the lower box body 72 can accommodate grasping of materials placed at different angles, improving the flexibility of the trolley.

[0050] Specifically, as Figure 6 , Figure 7 , Figure 8 shown, the power transmission device includes a motor 761, a driving gear 762 coaxially connected to the output shaft of the motor, and a transmission component. The transmission component includes a winding drum 763, a winding drum shaft 764, and a support pulley 765. The winding drum 763 rotates synchronously with the winding drum shaft 764 and the winding drum 763 can move axially along the winding drum shaft 764. One end of the winding drum shaft 764 is connected to a driven gear 766 by a key, and the other end of the winding drum shaft 764 is coaxially connected to a first pulley 767. The driven gear 766 meshes with the driving gear 762. One end of a third flexible cable 74 is connected to a grasping frame 73, and the other end of the third flexible cable 74 is wound around the support pulley 765 and then connected to the winding drum 763. The motor 761 drives the driven gear 766 to rotate through the driving gear 762, so as to drive the winding drum 763 to rotate, thereby driving the third flexible cable 74 to be wound and unwound, and realizing the up and down movement of the grasping frame 73 to lift or lower the material. Preferably, in this embodiment, the grasping frame 73 has a regular hexagon structure, so six sets of the transmission component and the third flexible cable 74 are correspondingly arranged. The driven gears 766 in the six sets of transmission components are evenly arranged circumferentially around the driving gear 762 as the center, and the six third flexible cables 74 are respectively connected to the six vertices of the grasping frame 73. The grasping frame 73 always remains horizontal under the pulling force of the six third flexible cables 74.

[0051] Furthermore, a rope winder 75 is provided beside the transmission assembly. The rope winder 75 includes a lead screw 751 arranged parallel to the reel shaft 764. One end of the lead screw 751 is provided with a second pulley 752 connected to the first pulley 767 through a synchronous belt. The other end of the lead screw 751 is installed on the bottom plate of the lower box body 72 through a bearing. A first slider 753 and a second slider 754 that cooperate with the lead screw 751 are arranged on the lead screw 751. There is a gap between the first slider 753 and the second slider 754. A first rope winder side plate 755 is fixedly connected to the end of the first slider 753 away from the second slider 754. A second rope winder side plate 756 is fixedly connected to the end of the second slider 754 away from the first slider 753. The other ends of the first rope winder side plate 755 and the second rope winder side plate 756 are both sleeved on the reel shaft 764, and the first rope winder side plate 755 and the second rope winder side plate 756 are respectively attached to both ends of the reel 763 to form a clamping on the reel 763. When the motor 761 drives the reel shaft 764 to rotate, the first pulley 767 drives the second pulley 752 to rotate through the synchronous belt, so that the lead screw 751 rotates. When the lead screw 751 rotates, the first slider 753 and the second slider 754 can move up and down, and the first rope winder side plate 755 and the second rope winder side plate 756 fixedly connected to the first slider 753 and the second slider 754 can move the reel 763 up and down to ensure that the third flexible cable 74 can be evenly wound when the reel 763 winds the rope, avoiding knotting. Preferably, six groups of rope winders 75 are also correspondingly arranged.

[0052] Furthermore, a support plate 721 is provided in the lower box body 72. The motor 761 is fixed on the support plate 721. The reel shaft 764 and the lead screw 751 are respectively rotationally connected to the support plate 721 and the bottom plate of the lower box body 72 through bearings. The first pulley 767 and the second pulley 752 are both located above the support plate 721. The support pulley 765 is fixed on the bottom plate of the lower box body 72 through a pulley seat. A through hole for the third flexible cable 74 to pass through is provided on the bottom plate of the lower box body 72.

[0053] Further, as Figure 9 、 Figure 10 shown, the trolley includes a first trolley 6A and a second trolley 6B that have the same structure and are arranged in the front-rear direction. The first trolley 6A and the second trolley 6B respectively include a vehicle body 61, wheels 62 that form a rolling fit with the track, and a hook arranged on the vehicle body 61 and cooperating with the first flexible cable 4 or the second flexible cable 5. The hook clamps or releases the first flexible cable 4 or the second flexible cable 5 under the action of the driving device 60. During the operation of the trolley, at least one of the hooks on the first trolley 6A and the second trolley 6B is always in the state of grasping the first flexible cable 4 or the second flexible cable 5 to obtain the traveling power. That is, the running power of the trolley is obtained by the hook grasping the flexible cable. Therefore, whether on the main track 1 or the feeding track 2, at least one of the hooks on the first trolley 6A and the second trolley 6B has to grasp a flexible cable.

[0054] Furthermore, as Figure 11 shown, the grab hook includes a grab hook platform 64 fixedly connected above the vehicle body 61, a support shaft 641 perpendicular to the grab hook platform 64, an upper grab hook 65 rotatably connected to the support shaft 641, and a lower grab hook 66. As Figure 19 shown, the support shaft 641 includes a first shaft segment 6411, a second shaft segment 6412, a third shaft segment 6413, and a fourth shaft segment 6414 arranged in sequence. The diameter of the first shaft segment 6411 is smaller than that of the second shaft segment 6412, and the diameters of the second shaft segment 6412, the third shaft segment 6413, and the fourth shaft segment 6414 decrease in sequence. The upper grab hook 65 is fixed on the first shaft segment 6411, and a support shaft upper cover 67 connected to the end of the first shaft segment 6411 is further provided above the upper grab hook 65. The lower grab hook 66 is fixed on the third shaft segment 6413. A stepped hole 642 is provided on the grab hook platform 64. The shaft shoulder formed by the third shaft segment 6413 and the fourth shaft segment 6414 cooperates with the stepped hole 642. After the fourth shaft segment 6414 passes through the stepped hole 642, the support shaft 641 is fixed on the grab hook platform 64 by a support shaft lock 68. A support spring 69 is further sleeved on the third shaft segment 6413. One end of the support spring 69 abuts against the bottom surface of the lower grab hook 66, and the other end of the support spring 69 abuts against the stepped hole 642. The support spring 69 is in a slightly compressed state in the initial state.

[0055] Specifically, as Figure 13 、 Figure 14 shown, the upper grab hook 65 includes a grab hook disc 651 sleeved on the first shaft segment 6411 and an upper grab hook body 652 fixed to the side surface of the grab hook disc 651. Both the grab hook disc 651 and the support shaft upper cover 67 are circular structures, and the support shaft upper cover 67 is located above the grab hook disc 651. Four groups of semi-circular grooves 671 are evenly spaced inward on the circumferential surface of the support shaft upper cover 67, that is, the semi-circular grooves 671 are arranged at intervals of 90 degrees. A positioning pin hole 6511 is further provided on the grab hook disc 651. The distance from the center of the positioning pin hole 6511 to the support shaft 641 is equal to the distance from the center of the semi-circular groove 671 to the support shaft 641.

[0056] Specifically, as Figure 15As shown in the figure, the lower grab hook 66 includes a circular base plate 661 sleeved on the third shaft section 6413, a gear 662 fixed on the upper plate surface of the circular base plate 661, and a lower grab hook body 663 fixed on the upper end surface of the gear 662. The upper grab hook body 652 is provided with a first arc-shaped recess 6521 inward, and the lower grab hook body 663 is provided with a second arc-shaped recess 6631 inward. When the upper grab hook body 652 and the lower grab hook body 663 are fitted together, the first arc-shaped recess 6521 and the second arc-shaped recess 6631 are aligned to form a clamping portion for the first flexible cable 4 or the second flexible cable 5. The diameter of the circular base plate 661 is larger than the diameter of the gear 662. The lower grab hook body 663 is provided with a positioning pin 6632 that cooperates with the positioning pin hole 6511. When the upper grab hook 65 and the lower grab hook 66 clamp the first flexible cable 4 or the second flexible cable 5, the top end of the positioning pin 6632 extends into the semi-circular arc groove 671 to limit the rotation of the upper grab hook 65.

[0057] During installation, first, the upper grab hook 65 is sleeved on the first shaft section 6411, and then the support shaft upper cover 67 is fixed to the top of the support shaft 641 by screws; then the lower grab hook 66 and the support spring 69 are sequentially sleeved on the third shaft section 6413, and the positioning pin 6632 is passed through the positioning pin hole 6511. At the same time, the top of the positioning pin 6632 is snapped into a set of semi-circular arc grooves 671 of the support shaft upper cover 67; finally, the support shaft 641 is inserted into the stepped hole 642, and the support shaft 641 is fixed to the grab hook platform 64 by the support shaft lock 68. At this time, after the positioning pin 6632 passes through the positioning pin hole 6511 on the upper grab hook 65 and is stuck in the semi-circular arc groove 671, the rotational movement of the upper grab hook 65 and the lower grab hook 66 around the support shaft 641 is restricted, and the lower grab hook 66 is subjected to the spring force of the support spring 69, and its movement along the axial direction of the support shaft 641 is also restricted.

[0058] Specifically, as Figure 12 shown, the driving device 60 includes a motor reducer 601 fixed on the grab hook platform 64, a driving shaft 602 connected to the output end of the motor reducer 601, a driving wheel 603 fixed on the driving shaft 602, and a gear end cover 604 connected to the driving shaft 602 for limiting the axial position of the driving wheel 603. The driving shaft 602 is perpendicular to the grab hook platform 64. As Figure 16 、 Figure 17 、 Figure 18As shown in the figure, the driving wheel 603 is an incomplete gear with one-quarter of the teeth. An arc-shaped convex platform 6031 is provided on the lower end surface of the driving wheel 603 along the rim direction. The position of the arc-shaped convex platform 6031 corresponds to the position of the teeth, and the length of the arc-shaped convex platform 6031 is greater than the length of one-quarter of the teeth. The height on both sides of the arc-shaped convex platform 6031 is lower than the height in the middle. That is, the driving wheel 603 has only one-quarter of the teeth, and an arc-shaped convex platform 6031 is provided below the teeth. The maximum height of the arc-shaped convex platform 6031 coincides with the height at which the positioning pin 6632 extends into the semi-circular groove 671. When the motor reducer 601 rotates, at this time, the driving wheel 603 has not yet meshed with the gear 662. One side of the arc-shaped convex platform 6031 first contacts the upper surface of the circular bottom plate 661 to press down the circular bottom plate 661 to drive the lower hook 66 to move downward. At this time, the upper hook 65 and the lower hook 66 are in a state of releasing the first flexible cable 4 or the second flexible cable 5. As the driving wheel 603 meshes with the gear 662, the upper hook 65 and the lower hook 66 rotate simultaneously, forming a state of disengaging from the first flexible cable 4 or the second flexible cable 5.

[0059] When the motor reducer 601 rotates, it can drive the driving shaft 602 and the driving wheel 603 to rotate simultaneously. When the driving wheel 603 and the gear 662 are not meshed, the variable-height convex platform part of the arc-shaped convex platform 6031 below the driving wheel 603 first contacts the upper surface of the circular bottom plate 661 in the lower hook 66 and presses down the circular bottom plate 661. At this time, a certain distance appears between the upper hook body 652 and the lower hook body 663, and they are in a state of no longer clamping the flexible cable. At the same time, the support spring 69 is compressed and contracted. At this time, the lower hook 66 moves downward, and the positioning pin 6632 on the lower hook 66 disengages from the semi-circular groove on the upper cover 67 of the support shaft, but the positioning pin 6632 is still in the positioning pin hole 6511. At this time, the upper hook body 652 and the lower hook body 663 are no longer restricted by the circumferential movement. When the driving wheel 603 meshes with the gear 662, the driving wheel 603 drives the gear 662 to rotate, and the upper hook body 652 and the lower hook body 663 rotate simultaneously and disengage from the corresponding flexible cable. Since the driving wheel 603 has only one-quarter of the teeth, the driving wheel 603 and the gear 662 will only move 90 degrees. When the driving wheel 603 and the gear 662 are disengaged, the pressing force of the arc-shaped convex platform 6031 below the driving wheel 603 on the circular bottom plate 661 also gradually disappears. At this time, the positioning pin 6632 on the lower hook 66 will re-pass through the positioning pin hole 6511 on the upper hook 65 and cooperate with the semi-circular groove 671 on the upper cover 67 of the support shaft again, and the circumferential movement of the upper hook 65 and the lower hook 66 is restricted again. Due to the symmetric structure, when the driving wheel 603 rotates clockwise for one circle, the hook can rotate counterclockwise by 90 degrees. When the driving wheel 603 rotates counterclockwise for one circle, the hook can rotate clockwise by 90 degrees.

[0060] The working principle of the present invention is as follows:

[0061] 1. Principle of straight-line running on the main track:

[0062] As Figure 1 shown, when the driving device works, the grappling hook of the first trolley grabs the first flexible cable inside the main track, and the grappling hook of the second trolley grabs the second flexible cable outside the main track. The first motor and the second motor respectively drive the first flexible cable and the second flexible cable to rotate counterclockwise. At this time, the trolley moves forward under the drive of the first flexible cable and the second flexible cable; when the trolley passes through the connection between the main track and the feeding track, that is, the bifurcation point, the driving device works to make the grappling hook of the second trolley disengage from the second flexible cable. At this time, the trolley continues to move forward under the drive of the first flexible cable; when the trolley exits the bifurcation point, the driving device works to make the grappling hook of the second trolley grab the second flexible cable again. At this time, the trolley moves forward under the drive of the first flexible cable and the second flexible cable.

[0063] 2. Principle of turning running on the main track:

[0064] As Figure 20 shown, before the trolley enters the curve from the straight track, the driving device works to make the grappling hook of the first trolley disengage from the first flexible cable. At this time, the trolley continues to move forward under the drive of the second flexible cable; when the grappling hook of the first trolley passes through the curve, the driving device works to make the grappling hook of the first trolley grip the first flexible cable again, and the grappling hook of the second trolley disengages from the second flexible cable. At this time, the trolley moves forward under the drive of the first flexible cable; when the grappling hook of the second trolley passes through the curve, the driving device works to make the grappling hook of the second trolley grip the second flexible cable. At this time, the trolley moves forward under the drive of the first flexible cable and the second flexible cable.

[0065] 3. Principle of the trolley running from the main track into the feeding track:

[0066] Before the trolley enters the feeding track, the grappling hook of the first trolley grabs the first flexible cable inside the main track, and the grappling hook of the second trolley grabs the second flexible cable outside the main track. At this time, the trolley moves along the main track in a straight line under the drive of the first flexible cable and the second flexible cable; before entering the feeding track, adjust the reversing flap so that the trolley can turn right from the main track into the feeding track; before the trolley turns right, the driving device works to make the grappling hook of the first trolley disengage from the first flexible cable. At this time, the trolley moves forward under the drive of the second flexible cable; when the grappling hook of the first trolley passes through the right-turn track, the driving device works to make the grappling hook of the first trolley grab the second flexible cable on the right side of the feeding track, and at the same time make the grappling hook of the second trolley disengage from the second flexible cable. At this time, the trolley moves forward under the drive of the second flexible cable on the right side; when the grappling hook of the second trolley passes through the right-turn track, the driving device works to make the grappling hook of the second trolley grab the second flexible cable on the right side of the feeding track. At this time, the trolley moves forward under the drive of the second flexible cable on the right side of the feeding track to the blanking position for blanking.

[0067] 4. Principle of the trolley running from the feeding track into the main track:

[0068] After the trolley completes blanking, the driving device operates to make the grippers of the first trolley and the second trolley simultaneously grasp the second flexible cable on the left side of the feeding track. At this time, the trolley retreats along the feeding track driven by the second flexible cable on the left side of the blanking track. Before entering the main track, the reversing paddle is adjusted so that the trolley can turn right from the feeding track into the main track. Before the trolley turns right from the feeding track, the driving device operates to make the gripper of the second trolley disengage from the second flexible cable on the left side of the feeding track. At this time, the trolley moves forward driven by the second flexible cable on the left side of the feeding track. When the gripper of the second trolley passes through the right-turn track, the driving device operates to make the gripper of the second trolley grasp the first flexible cable and at the same time make the gripper of the first trolley disengage from the second flexible cable on the left side of the feeding track. At this time, the trolley moves forward driven by the first flexible cable. When the gripper of the first trolley passes through the right-turn track and enters the main track, the driving device operates to make the gripper of the first trolley grasp the second flexible cable outside the main track. At this time, the trolley moves forward driven by the first flexible cable and the second flexible cable. Compared with before the trolley enters the feeding track, the positions of the first trolley and the second trolley are interchanged at this time.

[0069] The beneficial effects of the present invention are as follows:

[0070] 1. The present invention uses the first flexible cable and the second flexible cable for flexible driving, with a relatively compact structure, a large working space, low system power consumption, and a simple structure. It does not require complex moving pairs and rotating pairs, nor core components such as high-performance servo drives.

[0071] 2. The present invention uses a reversing paddle to reverse the track, and can choose straight-line driving or turning driving according to the operation requirements of the trolley, improving the flexibility of the trolley operation and reducing unnecessary energy consumption.

[0072] 3. The gripper of the present invention can clamp or release the flexible cable. By controlling the driving device, the straight-line movement, reversing, and parking of the trolley can be controlled, making the control of the trolley convenient and reliable.

[0073] 4. The present invention designs a flexible cable retracting and releasing device. This structure uses a single motor to control six flexible cables, improving the synchronization of the flexible cable control and enhancing the ability of the grasping frame to maintain horizontal during lifting. And this structure controls the angle of the grasping frame through a single motor, realizing the grasping of objects at different angles.

[0074] 5. Through the design of the flexible cable circuit, when on the main track, the present invention realizes the straight-line movement and reversing movement of the trolley through a double flexible cable circuit. When on the blanking track, the forward movement and backward movement of the trolley are realized through a single flexible cable circuit.

[0075] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the spirit of the present invention's design, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A cable-driven aerial suspended rail robot, characterized in that: it includes a rail, a trolley running on the rail, a grasping device connected to the lower part of the trolley, and a cable-driven device for providing running power for the trolley; the rail includes a main rail (1) and a feeding rail (2) bypassing the main rail (1). At the connection of the main rail (1) and the feeding rail (2), there is a reversing flap (3) for controlling the on-off state of the main rail (1) and the feeding rail (2). The main rail (1) is a closed-loop circuit and the trolley runs unidirectionally on the main rail. The trolley runs bidirectionally on the feeding rail (2); the cable-driven device includes a first cable (4), a first pulley group cooperating with the first cable (4), a first motor (41) connected to the driving wheel in the first pulley group, a second cable (5), a second pulley group cooperating with the second cable (5), and a second motor (51) connected to the driving wheel in the second pulley group. Both the first cable (4) and the second cable (5) are closed loops and are both above the rail and in the same horizontal plane. The first cable (4) is arranged along the inner side of the main rail (1), and the second cable (5) is arranged along the outer sides of the main rail (1) and the feeding rail (2); the trolley includes a first trolley (6A) and a second trolley (6B) which are arranged in the front-back direction and have the same structure. The first trolley (6A) and the second trolley (6B) each include a vehicle body (61), wheels (62) that form a rolling fit with the rail, and hooks arranged on the vehicle body (61) and cooperating with the first cable (4) or the second cable (5). The hooks are clamped or released from the first cable (4) or the second cable (5) under the action of the driving device (60). During the running of the trolley, at least one of the hooks on the first trolley (6A) and the second trolley (6B) is always in the state of grasping the first cable (4) or the second cable (5) to obtain the traveling power; the grasping device includes an upper box body (71), a lower box body (72), and a grasping frame (73) arranged in sequence from top to bottom. The top of the upper box body (71) is rotatably connected to the connecting shaft (63) on the vehicle bodies of the first trolley (6A) and the second trolley (6B). The lower box body (72) is rotatably connected to the upper box body (71). The grasping frame (73) is connected to the reel (763) in the lower box body (72) through a third cable (74). The reel drives the third cable (74) to retract and extend under the drive of the power transmission device to realize the up-and-down movement of the grasping frame (73); The described grappling hook includes a grappling hook platform (64) fixedly connected above the vehicle body (61), a support shaft (641) perpendicular to the grappling hook platform (64), an upper grappling hook (65) and a lower grappling hook (66) rotatably connected to the support shaft (641). The support shaft (641) includes a first shaft section (6411), a second shaft section (6412), a third shaft section (6413), and a fourth shaft section (6414) arranged in sequence. The diameter of the first shaft section (6411) is smaller than that of the second shaft section (6412), and the diameters of the second shaft section (6412), the third shaft section (6413), and the fourth shaft section (6414) decrease in sequence. The upper grappling hook (65) is fixed on the first shaft section (6411), and a support shaft upper cover (67) connected to the end of the first shaft section (6411) is further provided above the upper grappling hook (65). The lower grappling hook (66) is fixed on the third shaft section (6413). A stepped hole (642) is provided on the grappling hook platform (64), and the shaft shoulder formed by the third shaft section (6413) and the fourth shaft section (6414) cooperates with the stepped hole (642). After the fourth shaft section (6414) penetrates the stepped hole (642), the support shaft (641) is fixed on the grappling hook platform (64) through a support shaft lock (68). A support spring (69) is further sleeved on the third shaft section (6413). One end of the support spring (69) abuts against the bottom surface of the lower grappling hook (66), and the other end of the support spring (69) abuts against the stepped hole (642).

2. The cable-driven aerial suspension track robot according to claim 1, wherein: The upper grappling hook (65) includes a grappling hook disc (651) sleeved on the first shaft section (6411) and an upper grappling hook body (652) fixed on the side surface of the grappling hook disc (651). Both the grappling hook disc (651) and the support shaft upper cover (67) are circular structures, and the support shaft upper cover (67) is located above the grappling hook disc (651). Four groups of semi-circular arc grooves (671) are evenly spaced inward on the circumferential surface of the support shaft upper cover (67). A positioning pin hole (6511) is further provided on the grappling hook disc (651). The distance from the center of the positioning pin hole (6511) to the support shaft (641) is equal to the distance from the center of the semi-circular arc groove (671) to the support shaft (641).

3. The cable-driven aerial suspension track robot according to claim 2, wherein: The described lower grab hook (66) includes a circular bottom plate (661) sleeved on the third shaft section (6413), a gear (662) fixed on the upper plate surface of the circular bottom plate (661), and a lower grab hook body (663) fixed on the upper end surface of the gear (662). The upper grab hook body (652) is provided with a first arc-shaped recess (6521) inwardly, and the lower grab hook body (663) is provided with a second arc-shaped recess (6631) inwardly. When the upper grab hook body (652) and the lower grab hook body (663) are in contact with each other, the first arc-shaped recess (6521) and the second arc-shaped recess (6631) are aligned to form a clamping portion for the first flexible cable (4) or the second flexible cable (5). The diameter of the circular bottom plate (661) is larger than the diameter of the gear (662). A positioning pin (6632) matching with the positioning pin hole (6511) is provided on the lower grab hook body (663). When the upper grab hook (65) and the lower grab hook (66) clamp the first flexible cable (4) or the second flexible cable (5), the top end of the positioning pin (6632) extends into the semi-circular arc groove (671) to limit the rotation of the upper grab hook (65).

4. The cable-driven aerial suspension track robot according to claim 3, characterized in that: The described driving device (60) includes a motor reducer (601) fixed on the grab hook platform (64), a driving shaft (602) connected to the output end of the motor reducer (601), a driving wheel (603) fixed on the driving shaft (602), and a gear end cover (604) connected to the driving shaft (602) for limiting the axial position of the driving wheel (603). The driving shaft (602) is arranged perpendicular to the grab hook platform (64). The driving wheel (603) is an incomplete gear with one-quarter of the teeth. An arc-shaped convex platform (6031) is arranged on the lower end surface of the driving wheel (603) along the rim direction. The position of the arc-shaped convex platform (6031) corresponds to the position of the teeth, and the length of the arc-shaped convex platform (6031) is greater than the length of one-quarter of the teeth. The height on both sides of the arc-shaped convex platform (6031) is lower than the middle height. The maximum height of the arc-shaped convex platform (6031) coincides with the height of the positioning pin (6632) extending into the semi-circular arc groove (671). When the motor reducer (601) rotates, one side of the arc-shaped convex platform (6031) first contacts the upper surface of the circular bottom plate (661) to press down the circular bottom plate (661) to drive the lower grab hook (66) to move downward. At this time, the upper grab hook (65) and the lower grab hook (66) are in a state of releasing the first flexible cable (4) or the second flexible cable (5). As the driving wheel (603) meshes with the gear (662), the upper grab hook (65) and the lower grab hook (66) rotate simultaneously to form a state of disengaging from the first flexible cable (4) or the second flexible cable (5).

5. The cable-driven aerial suspension track robot according to claim 1, characterized in that: The upper box body (71) is provided with a torque motor (711), a flange plate (712), a crossed roller bearing (713) and a rotating disk (714). The outer ring of the motor of the torque motor (711) is connected to the inner ring of the crossed roller bearing (713) through the flange plate (712). The inner ring of the crossed roller bearing (713) is simultaneously connected to the rotating disk (714). The rotating disk (714) is fixedly connected to the top of the lower box body (72) through bolts. The outer rings of the torque motor (711) and the crossed roller bearing (713) are both fixedly connected to the inside of the upper box body (71).

6. The cable-driven aerial suspension track robot according to claim 1, characterized in that: The power transmission device includes a motor (761), a driving gear (762) coaxially connected to the output shaft of the motor, and a transmission assembly. The transmission assembly includes a winding drum (763), a winding drum shaft (764) and a supporting pulley (765). The winding drum (763) rotates synchronously with the winding drum shaft (764) and the winding drum (763) can move axially along the winding drum shaft (764). One end of the winding drum shaft (764) is connected to a driven gear (766) through a key, and the other end of the winding drum shaft (764) is coaxially connected to a first belt pulley (767). The driven gear (766) meshes with the driving gear (762). One end of the third cable (74) is connected to the grasping frame (73), and the other end of the third cable (74) is wound around the supporting pulley (765) and then connected to the winding drum (763).

7. The cable-driven aerial suspension track robot according to claim 6, characterized in that: A cable take-up device (75) is further provided beside the transmission assembly. The cable take-up device (75) includes a lead screw (751) arranged parallel to the winding drum shaft (764). One end of the lead screw (751) is provided with a second belt pulley (752) connected to the first belt pulley (767) through a synchronous belt. The other end of the lead screw (751) is installed on the bottom plate of the lower box body (72) through a bearing. The lead screw (751) is provided with a first slider (753) and a second slider (754) that cooperate with the lead screw (751). A distance is left between the first slider (753) and the second slider (754). The first slider (753) is fixedly connected with a first cable take-up device side plate (755) at the end far from the second slider (754). The second slider (754) is fixedly connected with a second cable take-up device side plate (756) at the end far from the first slider (753). The other ends of the first cable take-up device side plate (755) and the second cable take-up device side plate (756) are both sleeved on the winding drum shaft (764), and the first cable take-up device side plate (755) and the second cable take-up device side plate (756) are respectively attached to both ends of the winding drum (763) to clamp the winding drum (763).

8. The cable-driven aerial suspension track robot according to claim 7, characterized in that: A support plate (721) is provided inside the lower box body (72). The motor (761) is fixed on the support plate (721). The reel shaft (764) and the lead screw (751) are respectively rotatably connected to the support plate (721) and the bottom plate of the lower box body (72) through bearings. The first pulley (767) and the second pulley (752) are both located above the support plate (721). The support pulley (765) is fixed on the bottom plate of the lower box body (72) through a pulley seat. A through hole for the third flexible cable (74) to pass through is provided on the bottom plate of the lower box body (72). The grasping frame (73) is a regular hexagon structure. Six groups of the transmission components, the third flexible cable (74), and the rope take-up device (75) are correspondingly arranged. The driven gears (766) in the six groups of transmission components are evenly arranged circumferentially around the driving gear (762) with the driving gear (762) as the center. The six groups of the third flexible cables (74) are respectively connected to the six vertices of the grasping frame (73).

9. The cable-driven aerial suspension rail robot according to claim 1, characterized in that: The reversing flap (3) includes a first flap (31), a second flap (32), and a third flap (33). One ends of the first flap (31), the second flap (32), and the third flap (33) are hinged through a connecting shaft (30). The other ends of the first flap (31), the second flap (32), and the third flap (33) are respectively provided with a first magnet, a second magnet, and a third magnet. A first magnetic attraction switch (34) and a second magnetic attraction switch (35) that are matched with the first magnet, a third magnetic attraction switch (36) and a fourth magnetic attraction switch (37) that are matched with the second magnet, and a fifth magnetic attraction switch (38) and a sixth magnetic attraction switch (39) that are matched with the third magnet are further provided beside the track. By controlling the on-off of the above magnetic attraction switches, the positions of the first flap (31), the second flap (32), and the third flap (33) can be changed, so as to realize the on-off of the main track (1) and the feeding track (2).

Images