A hanging rail robot with switchable connection

Abstract

The application discloses a hanging rail robot with switchable connection mode, which comprises a lifting module and a holder module; when the lifting module is combined with the holder module, the lifting adapter plate is fixed in the holder gear disc through the holder holder fixing screw, and the lower end of the spring wire adapter plate is fixed on the holder base through the holder spring wire fixing screw; when the lifting module is separated from the holder module, the holder fixing screw and the holder spring wire fixing screw are removed, and the spring wire adapter plate is fixed on the lifting adapter plate through the lifting spring fixing screw; the spring wire can make up-and-down stretching movement along with the lifting module and torsional movement along with the holder module, and the two movements are carried out simultaneously without interference; when the holder module and the lifting module are assembled and connected or separated and disassembled, the lower end of the spring wire is fixed on the lifting adapter plate of the lifting module, the spring wire is not interfered, and no operation is performed on the spring wire, so that the two modules can be quickly assembled and disassembled.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically to a rail-mounted robot with switchable connection methods. Background Technology

[0002] The rail-mounted robot is a specialized robot capable of performing special inspections and customized patrol tasks in harsh and unique environments. Powered by fixed rails and copper bars, it can perform uninterrupted, 24 / 7 inspections. Equipped with specialized cameras, such as panoramic cameras or dual-light gimbal cameras, and various environmental monitoring modules and sensors, it can capture and sense its surroundings in real time, enabling remote online monitoring and data analysis. It can replace manual labor in routine inspections, fault diagnosis, and early warning alarms. This helps enterprises effectively improve the content and frequency of their operations and maintenance, breaking through the limitations of traditional manual inspections and achieving intelligent operations and maintenance. It can achieve all-weather intelligent security inspections in scenarios such as tunnels, computer rooms, warehouses, factories, and utility tunnels.

[0003] The rail-mounted robot mainly consists of two parts: a lifting module and a gimbal module. The gimbal module, which serves as a carrier platform for optical sensors and environmental monitoring sensors, is connected to the lifting module and needs to simultaneously perform rotation, lifting, and quick assembly / disassembly functions.

[0004] There are two installation methods for the spring wires used to control the movement of the lifting platform and gimbal in existing rail-mounted robots. One method involves not fixing the lower end of the spring wire inside the lifting platform module. The lower end of the spring wire is then fixed to the gimbal when the entire lifting platform is installed. This results in the lower end of the spring wire not being fixed to the lifting platform during production, making the wire harness prone to damage. During subsequent maintenance, the lower end of the spring wire is also not fixed after disassembling the gimbal, making the wire harness prone to damage again. The other method involves fixing the spring wire to the bottom base plate of the lifting platform. This base plate is only fixed to the lifting platform. Therefore, when the entire lifting platform is installed on the gimbal, the cable ties fixing the spring wire to the lower base plate of the lifting platform must be cut, and new cable ties must be used to transfer and fix the spring wire to the gimbal base. This is time-consuming and laborious to install, and during subsequent mechanical maintenance, every time the lifting platform needs repair, the cable ties must be cut and new cable ties must be installed, making on-site operation very difficult. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a rail-mounted robot with switchable connection methods.

[0006] The technical solution adopted in this invention is: A switchable connection method rail-mounted robot includes a lifting module and a gimbal module. The lifting module includes a lifting platform, a spring cable, a lifting adapter plate, a spring cable adapter plate, spring cable fixing straps, and a spring cable pressure plate. The lifting adapter plate is fixed to the bottom of the lifting platform. The spring cable adapter plate is rotatably mounted on the underside of the lifting adapter plate. The spring cable is installed inside the lifting platform, and the lower end of the spring cable passes through the lifting adapter plate and the spring cable adapter plate and is fixed to the spring cable pressure plate by the spring cable fixing straps. The spring cable pressure plate is fixed to the bottom of the spring cable adapter plate. The gimbal module includes a gimbal base, a gimbal rotary motor, a motor gear, and a gimbal gear disk. The gimbal rotary motor is fixedly mounted on the gimbal base. The motor gear is fixedly mounted on the output shaft of the gimbal rotary motor. The gimbal gear disk is rotatably mounted inside the gimbal base through a gimbal rotary bearing and meshes with the motor gear. When the lifting module and the gimbal module are combined, the lifting adapter plate is fixed inside the gimbal gear disk by the lifting gimbal fixing screws, and the lower end of the spring wire adapter plate passes through the gimbal gear disk and is fixed to the gimbal base by the gimbal spring wire fixing screws; when the lifting module and the gimbal module are separated, the lifting gimbal fixing screws and the gimbal spring wire fixing screws are removed, and the spring wire adapter plate is fixed to the lifting adapter plate by the lifting spring fixing screws.

[0007] Furthermore, the gimbal module also includes two gimbal rotation sensors and a gimbal rotation positioning block. The two gimbal rotation sensors are symmetrically mounted on the gimbal rotation sensor bracket, which is fixedly mounted on the gimbal base. The gimbal rotation positioning block is fixedly mounted on the gimbal gear disk. The two gimbal rotation sensors and the gimbal rotation positioning block work together to control the forward and reverse rotation angles of the gimbal.

[0008] Furthermore, a gear disk mounting slot is provided inside the gimbal base, and a gimbal rotary bearing and a gimbal gear disk are installed in the gear disk mounting slot. The gimbal gear disk is fixed to the inner ring of the gimbal rotary bearing, and the outer ring of the gimbal rotary bearing is pressed and fixed to the gimbal base by a bearing cover plate.

[0009] Furthermore, the bottom of the gear plate mounting slot of the gimbal base is provided with a central hole for the spring wire pressure plate to pass through, a screw hole for fixing the gimbal spring wire fixing screw, a round hole for the lifting spring fixing screw to pass freely through, and an arc-shaped hole for the lifting gimbal fixing screw to pass freely through.

[0010] Furthermore, the spring wire adapter plate is disc-shaped, with one side of the center of the disc protruding outward to form a boss. The outer diameter of the boss matches the inner diameter of the center hole of the gimbal base. The center of the boss has a rectangular hole for the spring wire and the spring wire pressure plate to pass through. The bottom of the boss has a screw hole for fixing the spring wire pressure plate. The side of the boss has a notch for the spring wire to pass through.

[0011] Furthermore, the spring wire pressure plate is elongated, with a slot on one side that matches the rectangular hole of the spring wire adapter plate. The bottom surface of the slot has two through holes for passing through the spring wire fixing cable tie.

[0012] Furthermore, the gimbal gear disk is provided with an adapter plate mounting slot A, and the lifting adapter plate is inserted into the adapter plate mounting slot A; the bottom of the adapter plate mounting slot A is provided with a through hole for the spring wire adapter plate to pass through.

[0013] Furthermore, the adapter plate mounting slot A is provided with a lifting module mounting positioning block, and the lifting adapter plate is provided with a positioning slot that matches the lifting module mounting positioning block.

[0014] The beneficial effects of this invention are: 1. When the gimbal module and the lifting module are combined, the lower end of the spring wire is fixed to the gimbal base. The gimbal rotary motor, motor gear, spring wire adapter plate, and spring wire pressure plate are installed on the gimbal base, forming a rotating motion component. The lifting adapter plate, lifting mechanism, and spring wire are installed on the gimbal gear disk, forming a rotating fixed component. The spring wire moves up and down with the lifting mechanism module and simultaneously rotates with the gimbal module, performing a torsional motion. The two movements occur simultaneously without interfering with each other.

[0015] 2. When assembling and connecting the gimbal module and the lifting module, and disassembling and separating them, the lower end of the spring line is fixed to the lifting adapter plate of the lifting module. This does not interfere with the spring line, and no operation is required on the spring line, allowing for quick assembly and disassembly of the two modules.

[0016] 3. The gear mechanism and gimbal rotation bearing are placed outside the lift. The connection structure between the lift module and the gimbal module is compact, and the vertical height dimension is minimized to maximize the utilization of the lifting height.

[0017] 4. By setting up a gimbal rotation sensor and a gimbal rotation positioning block, precise positioning of the gimbal rotation can be achieved. Attached Figure Description

[0018] Figure 1 This is an assembly cross-sectional view of the rail-mounted robot of the present invention.

[0019] Figure 2 This is a three-dimensional assembly drawing of the rail-mounted robot of the present invention.

[0020] Figure 3 for Figure 2 The bottom view.

[0021] Figure 4 This is a structural diagram of the gimbal base.

[0022] Figure 5 This is a schematic diagram of the gimbal gear disk.

[0023] Figure 6 This is a structural schematic diagram of the lifting adapter plate.

[0024] Figure 7 This is a schematic diagram of the spring wire adapter plate.

[0025] Figure 8 This is a schematic diagram of the spring wire pressure plate.

[0026] Explanation of reference numerals in the attached figures: 101. Spring wire; 102. Lifting platform; 103. Gimbal rotation motor; 104. Motor gear; 105. Gimbal rotation bearing; 106. Lifting adapter plate; 107. Lifting platform gimbal fixing screw; 108. Lifting platform spring fixing screw; 109. Spring wire adapter plate; 110. Spring wire pressure plate; 111. Gimbal spring wire fixing screw; 112. Gimbal base; 113. Bearing cover plate; 114. Gimbal gear disk; 115. Gimbal rotation sensor; 116. Gimbal rotation sensor bracket; 117. Gimbal rotation positioning block; 118. Spring wire fixing cable tie; 120. Lifting platform module mounting positioning block. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and a preferred embodiment.

[0028] See Figures 1-8 This application provides a rail-mounted robot with switchable connection methods, including a lifting module and a gimbal module.

[0029] The lifting module includes a lifting platform 102, a spring cable 101, a lifting adapter plate 106, a spring cable adapter plate 109, a spring cable fixing strap 118, and a spring cable pressure plate 110.

[0030] The center of the lifting adapter plate 106 is provided with a central through hole for the spring wire 101 to pass through. The center of the lower side of the lifting adapter plate is provided with an adapter plate mounting groove B. The outer periphery of the adapter plate mounting groove B is provided with a positioning groove. The positioning groove is used so that the lifting adapter plate 106 can be positioned and inserted into the gear disk mounting groove 1121 when the gimbal module and the lifting module are combined. The center of the upper side of the lifting adapter plate is provided with a lifting machine mounting groove.

[0031] The spring wire adapter plate 109 is disc-shaped, and the outer diameter of the disc is adapted to the inner diameter of the adapter plate mounting groove B. One side of the center of the disc protrudes outward to form a boss, and the outer diameter of the boss is adapted to the inner diameter of the center hole of the gimbal base 112. The center of the boss has a rectangular hole for inserting the spring wire pressure plate 110 through the spring wire 101. The bottom of the boss has a screw hole for fixing and connecting the spring wire pressure plate 110. The side of the boss has a notch for the spring wire 101 to pass through.

[0032] The spring wire pressure plate 110 is long and narrow, with a slot on one side that matches the rectangular hole of the spring wire adapter plate 109. The bottom surface of the slot has two through holes for the spring wire fixing cable tie 118 to pass through.

[0033] The lifting adapter plate 106 is fixedly connected to the lifting machine 102 through its lifting machine mounting slot. The spring wire adapter plate 109 is installed in the adapter plate mounting slot B of the lifting adapter plate 106 through its disc part and is fixed to the lifting adapter plate 106 by the lifting machine spring wire fixing screw 108. The spring wire pressure plate 110 is inserted into the rectangular hole of the spring wire adapter plate 109 through its slot. The spring wire 101 is installed in the lifting machine 102. The lower end of the spring wire 101 passes through the lifting adapter plate 106 and emerges from the boss notch of the spring wire adapter plate 109. It is fixed to the spring wire pressure plate 110 by the spring wire fixing cable tie 118. The spring wire pressure plate 110 is fixed in the screw hole at the bottom of the boss of the spring wire adapter plate by screws.

[0034] The gimbal module includes a gimbal base 112, a gimbal rotation motor 103, a motor gear 104, a gimbal gear disk 114, a gimbal rotation sensor 115, and a gimbal rotation positioning block 117.

[0035] The gimbal base 112 has a gear disk mounting groove 1121. A central hole 1123 is located at the bottom center of the gear disk mounting groove 1121. Three screw holes 1125 are evenly distributed around the outer periphery of the central hole 1123 for mounting the gimbal spring cable fixing screws 111. Four round holes 1122 and four arc-shaped holes 1124 are staggered around the outer periphery of the screw holes 1125. When the gimbal module and the lifting module are combined or separated, the protrusions of the spring pressure plate 110 and the spring cable adapter plate 109 can pass through the central hole 1123 to combine or separate from the gimbal base 112. The four round holes 1122 are the gimbal fixing screw mounting holes 1122. When the gimbal module and the lifting module are separated, the lifting spring fixing screws 108 freely pass through the gimbal base 112, fixing the spring cable adapter plate 109 onto the lifting adapter plate 106. Four arc-shaped holes 1124 are used when the gimbal module and the lifting module are combined, the lifting gimbal fixing screws 107 can freely pass through the gimbal base 112 to fix the lifting adapter plate 106 to the gimbal gear disk 114.

[0036] The structural design of the gimbal base 112 allows the gear mechanism and gimbal rotation bearing to be placed outside the lift. The connection structure between the lift module and the gimbal module is compact, making the connection height between the lift and the gimbal only 7mm. The vertical height dimension is compressed to the minimum, maximizing the utilization of the lifting height, which facilitates the installation of lifting auxiliary mechanisms.

[0037] The gimbal gear disk 114 is provided with an adapter plate mounting groove A. The bottom of the adapter plate mounting groove A is provided with a through hole for the spring wire adapter plate 109 to pass through. The adapter plate mounting groove A is provided with a lifting module mounting positioning block 120.

[0038] The gimbal gear disk 114 is mounted on the inner ring of the gimbal rotary bearing 105. The gimbal rotation positioning block 117 is mounted on the gimbal gear disk 114. The outer ring of the gimbal rotary bearing 105 is fixed in the gear disk mounting groove 1121 and pressed and fixed on the gimbal base 112 by the bearing cover plate 113. The gimbal rotary motor 103 is fixed on the gimbal base 112. The motor gear 104 is mounted on the motor shaft. The motor gear 104 drives the gimbal gear disk 114 to rotate. Two gimbal rotation sensors 115 are mounted on the gimbal rotation sensor bracket 116. The gimbal rotation sensor bracket 116 is fixed on the gimbal base 112. The gimbal rotation is positioned by the contact sensor of the gimbal rotation positioning block 117. There are two gimbal rotation sensors, one for forward and one for reverse, symmetrically arranged and mounted on the gimbal rotation sensor bracket 116. The gimbal rotation sensor bracket 116 is mounted on the gimbal base 112. The gimbal rotation positioning block 117 is fixed on the gimbal gear disk 114 and rotates with the gimbal gear disk. The motor is a DC brushed motor with encoder, which can realize rotation and positioning according to a set angle. The two sensors for forward and reverse rotation serve to return to zero, calibrate, and prevent overtravel limit protection.

[0039] When the gimbal module and the lifting module are combined, the lifting adapter plate 106 is positioned and inserted into the gear disk mounting slot 1121 through the positioning slot, and the lifting adapter plate 106 is fixed to the gimbal gear disk 114 with the lifting gimbal fixing screw 107; then, the lifting spring wire fixing screw 108 that fixes the spring wire adapter plate 109 to the lifting adapter plate 106 is removed, and the gimbal spring wire fixing screw 111 that fixes the spring wire adapter plate 109 to the gimbal base 112 is installed. At this time, the gimbal rotary motor 103, motor gear 104, spring wire adapter plate 109, spring wire pressure plate 110, and gimbal base 112 together act as a rotating motion component; the lifting adapter plate 106, lifting mechanism 102, spring wire 101, and gimbal gear disk 114 together act as a rotating fixing component, using the gimbal rotary bearing 105 as a connecting part to realize the rotation and positioning of the gimbal.

[0040] When the spring wire adapter plate 109 is fixed on the gimbal base 112, the spring wire adapter plate 109 is separated from the lifting adapter plate 106, that is, it is no longer in motion with the lifting machine. When the gimbal base 112 rotates, the spring wire 101 rotates with the gimbal base 112. When the lifting machine lifts, the spring wire 101 stretches with the lifting machine 102. The two movements can run simultaneously or separately. The spring wire moves in both directions and does not interfere with the gimbal or the lifting machine.

[0041] When the gimbal module is completely removed from the lifting module, remove the gimbal spring wire fixing screw 111 that fixes the spring wire adapter plate 109 to the gimbal base 112, install the lifting spring wire fixing screw 108 that fixes the spring wire adapter plate 109 to the lifting adapter plate 106, and finally remove the lifting gimbal fixing screw 107. The lifting 102, spring wire 101, lifting adapter plate 106, spring wire adapter plate 109, and spring wire pressure plate 110 form an independent lifting module; the gimbal rotary motor 103, motor gear 104, gimbal base 112, and gimbal gear disk 114 form an independent gimbal module; the gimbal module and lifting module can be quickly separated without any operation on the spring wire.

[0042] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications are also within the protection scope of the present invention.

Claims

1. A rail-mounted robot with switchable connection methods, comprising a lifting module and a gimbal module, characterized in that, The lifting module includes a lifting platform (102), a spring wire (101), a lifting adapter plate (106), a spring wire adapter plate (109), a spring wire fixing cable tie (118), and a spring wire pressure plate (110). The lifting adapter plate (106) is fixed to the bottom of the lifting platform (102), and the spring wire adapter plate (109) is rotatably installed on the lower side of the lifting adapter plate (106). The spring wire (101) is installed inside the lifting platform (102), and the lower end of the spring wire (101) passes through the lifting adapter plate (106) and the spring wire adapter plate (109) and is fixed to the spring wire pressure plate (110) by the spring wire fixing cable tie (118). The spring wire pressure plate (110) is fixed to the bottom of the spring wire adapter plate (109). The gimbal module includes a gimbal base (112), a gimbal rotary motor (103), a motor gear (104), and a gimbal gear disk (114). The gimbal rotary motor (103) is fixedly mounted on the gimbal base (112), the motor gear (104) is fixedly mounted on the output shaft of the gimbal rotary motor (103), and the gimbal gear disk (114) is rotatably mounted in the gimbal base (112) through a gimbal rotary bearing (105) and meshes with the motor gear (104). When the lifting module and the gimbal module are combined, the lifting adapter plate (106) is fixed inside the gimbal gear disk (114) by the lifting gimbal fixing screw (107), and the lower end of the spring wire adapter plate (109) passes through the gimbal gear disk (114) and is fixed on the gimbal base (112) by the gimbal spring wire fixing screw (111). When the lifting module is separated from the gimbal module, remove the lifting gimbal fixing screws (107) and the gimbal spring wire fixing screws (111). The spring wire adapter plate (109) is fixed on the lifting adapter plate (106) by the lifting spring fixing screws (108).

2. The rail-mounted robot with switchable connection method according to claim 1, characterized in that, The gimbal module also includes two gimbal rotation sensors (115) and a gimbal rotation positioning block (117). The two gimbal rotation sensors (115) are symmetrically mounted on the gimbal rotation sensor bracket (116), which is fixedly mounted on the gimbal base (112). The gimbal rotation positioning block (117) is fixedly mounted on the gimbal gear disk (114). The two gimbal rotation sensors (115) and the gimbal rotation positioning block (117) work together to control the forward and reverse rotation angles of the gimbal.

3. A rail-mounted robot with switchable connection methods according to claim 1, characterized in that, The gimbal base (112) has a gear disk mounting slot, in which a gimbal rotary bearing (105) and a gimbal gear disk (114) are installed. The gimbal gear disk (114) is fixed to the inner ring of the gimbal rotary bearing (105), and the outer ring of the gimbal rotary bearing (105) is pressed and fixed to the gimbal base (112) by the bearing cover plate (113).

4. A rail-mounted robot with switchable connection methods according to claim 3, characterized in that, The bottom of the gear plate mounting slot of the gimbal base (112) is provided with a central hole for the spring wire pressure plate (110) to pass through, a screw hole for fixing the gimbal spring wire fixing screw (111), a round hole (1122) for the lifting spring fixing screw (108) to pass freely through, and an arc-shaped hole for the lifting gimbal fixing screw (107) to pass freely through.

5. A rail-mounted robot with switchable connection methods according to claim 4, characterized in that, The spring wire adapter plate (109) is disc-shaped, with one side of the center of the disc protruding outward to form a boss. The outer diameter of the boss is matched with the inner diameter of the center hole of the gimbal base (112). The center of the boss has a rectangular hole for the spring wire (101) to pass through and for inserting the spring wire pressure plate (110). The bottom of the boss has a screw hole for fixing and connecting the spring wire pressure plate (110). The side of the boss has a notch for the spring wire (101) to pass through.

6. A rail-mounted robot with switchable connection methods according to claim 5, characterized in that, The spring wire pressure plate (110) is long and narrow, with a slot on one side that matches the rectangular hole of the spring wire adapter plate (109). The bottom surface of the slot has two through holes for the spring wire fixing cable tie (118) to pass through.

7. A rail-mounted robot with switchable connection methods according to claim 1, characterized in that, The gimbal gear disk (114) is provided with a transition plate mounting groove A, and the lifting transition plate (106) is inserted into the transition plate mounting groove A; the bottom of the transition plate mounting groove A is provided with a through hole for the spring wire transition plate (109) to pass through.

8. A rail-mounted robot with switchable connection methods according to claim 7, characterized in that, The mounting slot A of the adapter plate is provided with a lifting module mounting positioning block (120), and the lifting adapter plate (106) is provided with a positioning slot that is compatible with the lifting module mounting positioning block (120).

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