A self-adjusting sky rail robot

Abstract

The present invention discloses a self-adjusting overhead rail robot, belonging to the technical field of rail robots, comprising: a first rail and a second rail arranged in parallel, and a walking body sliding along the first rail and the second rail, the walking body being installed in a walking frame, the walking body comprising a load-bearing component suspended between the first rail and the second rail, and a driving component driven to slide along the lower part of the first rail and the second rail, the load-bearing component is enabled to walk along the first rail and the second rail by the driving component, thus solving the technical problem of adjusting the friction between the driving wheel and the surface of the overhead rail, and the present invention is mainly applied to overhead rail type robots.

Description

Technical Field

[0001] The invention belongs to the technical field of rail robots, and in particular relates to a self-adjusting overhead rail robot. Background Art

[0002] At present, the demand for automation and intelligence is growing in various fields. Against this background, rail-mounted robots have emerged. These robots can move and operate in a specific space by hanging on the track.

[0003] Patent announcement number (CN109774734B) discloses a track running device and a track robot, wherein the track running device is used to run on a first side rail (300) and a second side rail arranged in parallel, and the track running device comprises: a running body (100); a first running wheel (200), which is installed on the first side of the running body (100) and is used to run on the first side rail (300); and a second running wheel, which is installed on the second side of the running body (100) and is used to run on the second side rail; the track running device also comprises: an elastic limiting device, which is arranged on the running body (100) and is used to keep the first running wheel (200) and the second running wheel on the first side rail (300) and the second side rail respectively and can adapt to the width change between the first side rail (300) and the second side rail. The track running device of the present invention can not only adapt to the width change between the first side rail and the second side rail, but also improve the stability of the track running device during running and reduce the shaking of the track running device.

[0004] The above patent application discloses a track robot that uses an elastic limit device to make the track travel device adapt to the width change of the first side rail and the second side rail, thereby improving the running stability of the track travel device. However, when the track robot is running with a load, the drive wheel is severely worn due to hard friction between the drive wheel and the guide rail. At this time, the elastic limit device in the above solution restricts the drive wheel, causing the drive wheel to wear and fail to fit the first rail and the second rail. At the same time, the deadweight of the track travel device acts on the drive wheel, causing the hard friction between the drive wheel and the first side rail and the second side rail to accelerate wear.

[0005] The applicant has previously provided an adjustment method to solve the above-mentioned problem, and it has achieved excellent promotion effects in practice. At the same time, it was found during use that the load carried by the overhead rail robot during each transportation along the path during application was different. The user's maintenance personnel were unable to accurately adjust the friction between the drive wheel and the guide rail, and each time the load on one side was changed, an adjustment was required according to the load, which could not meet the application of different categories of transport loads. Based on this, the applicant developed and improved the structure of the overhead rail robot to obtain an overhead rail robot that automatically adjusts the hard friction between the drive wheel and the overhead rail according to the load to replace the existing technology. Summary of the invention

[0006] Purpose of the invention: The purpose of the present invention is to provide a self-adjusting overhead rail robot to solve the technical problem of adjusting the friction between the driving wheel and the surface of the overhead rail.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions: A self-adjusting overhead rail robot, comprising: a first rail and a second rail arranged in parallel, and a walking body sliding along the first rail and the second rail, the walking body being installed in a walking frame, characterized in that:

[0008] The walking body includes a load-bearing component suspended between the first track and the second track, and a driving component slidingly driven along the lower part of the first track and the second track, wherein;

[0009] The driving assembly enables the load-bearing assembly to move along the first track and the second track.

[0010] Furthermore: the first track and the second track have the same structure, a first slot plate extends to one side from the bottom of the first track, a second slot plate extends to one side from the bottom of the second track, and the first slot plate is opposite to the second slot plate.

[0011] Further: the driving assembly includes a driving mounting plate and a motor mounting plate installed between the walking frames, the driving mounting plate and the motor mounting plate are both in two pieces, the two driving mounting plates are sleeved on the first optical axis, the first optical axis is fixed to one end of the walking frame, the two motor mounting plates are sleeved on the second optical axis, and the second optical axis is fixed to the other end of the walking frame;

[0012] The driving axle, the other end of the motor mounting plate and the other end of the driving mounting plate are sleeved on the driving axle, the driving axle is provided with a driving wheel, the motor mounting plate and the driving mounting plate are rotatably mounted on the driving axle, and the end of the driving axle is fixedly connected to the large synchronous pulley.

[0013] The drive motor is installed between the motor mounting plates, and the output shaft of the drive motor passes through the rear end of the motor mounting plate and is connected to the small synchronous pulley. The drive wheel is installed on the drive wheel shaft, and the small synchronous pulley and the large synchronous pulley are connected through a synchronous belt.

[0014] Further: the load-bearing assembly includes a first traveling hanging wheel group and a second traveling hanging wheel group installed in the first slot plate and the second slot plate, and the first traveling hanging wheel group and the second traveling hanging wheel group have the same structure, wherein;

[0015] The first traveling hanging wheel group comprises traveling hanging wheels installed on both sides of the connecting member, the traveling hanging wheels are installed on the first groove plate and the second groove plate, and;

[0016] A third optical axis is installed between the drive mounting plates, a suspension wheel connecting frame is installed on the third optical axis, and the suspension wheel connecting frame is fixedly connected to the connecting member through a connecting rod;

[0017] The second walking hanging wheel group is installed between the motor mounting plates.

[0018] Compared with the prior art, the present invention has the following advantages: through the conduction of the load-bearing component after the force is changed, the supporting force on the driving wheel axle is increased or decreased during the change of the supporting angle of the motor mounting plate and the driving mounting plate, thereby realizing automatic adjustment of the hard friction force between the contact surface between the driving wheel and the first rail and the second rail according to the load weight, and has good applicability and popularization. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural diagram of the present invention;

[0020] Figure 2 It is the front view of the present invention;

[0021] Figure 3 It is a structural diagram of the walking body of the present invention;

[0022] Figure 4 It is a top view of the walking body of the present invention;

[0023] Figure 5 It is a structural diagram of the walking assembly and the driving assembly of the present invention. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] In the description of the invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0026] In a first embodiment of the present invention, Figure 1-5 As shown, a self-adjusting overhead rail robot comprises: a first rail 1 and a second rail 2 arranged in parallel, the first rail 1 and the second rail 2 are installed and fixed according to a conveying path by a combination of one or more of bolts, welding, support, etc., for hoisting a walking body, the first rail 1 and the second rail 2 are installed in parallel, the distance between the first rail 1 and the second rail 2 is set according to the configured hanging wheels, the walking body slides along the first rail 1 and the second rail 2, the walking body is installed in a walking frame 3, the lower part of the walking frame 3 is used to connect a load, the first rail 1 and the second rail 2 have the same structure, a first slot plate 4 extends to one side from the bottom of the first rail 1, a second slot plate 5 extends to one side from the bottom of the second rail 2, and the first slot plate 4 is opposite to the second slot plate 5;

[0027] The walking body includes a load-bearing component suspended between the first track 1 and the second track 2, and a driving component slidingly driven along the lower part of the first track 1 and the second track 2, wherein;

[0028] The load-bearing component moves along the first track 1 and the second track 2 through the driving component;

[0029] The driving assembly includes a driving mounting plate 6 and a motor mounting plate 7 installed between the walking frames 3, and the driving mounting plate 6 and the motor mounting plate 7 are both two pieces, and the two driving mounting plates 6 are sleeved on the first optical axis 8, and the driving mounting plate 6 is equidistantly installed with the first driving mounting plate and the second driving mounting plate at the center of the first optical axis 8 to both ends, and the two driving mounting plates 6 can rotate in situ on the first optical axis 8, and the method of supporting the in-situ rotation can be to groove the first optical axis or add bearings, the first optical axis 8 is fixed to one end of the walking frame 3, and the two motor mounting plates 7 are sleeved on the second optical axis 9, and the first motor mounting plate and the second motor mounting plate are equidistantly installed at both ends at the center of the second optical axis, and the motor mounting plate 7 is located on the outer side of the driving mounting plate 6, and the outer side is the side close to the walking frame, and the second optical axis 9 is fixed to the other end of the walking frame 3;

[0030] The driving axle 10, the other end of the motor mounting plate 7 and the other end of the driving mounting plate 6 are sleeved on the driving axle 10, and the driving axle 10 has a driving wheel 11. The motor mounting plate 7 and the driving mounting plate 6 are rotatably mounted on the driving axle 10. The end of the motor mounting plate 7 and the driving mounting 6 close to each other is sleeved on the driving axle 10 and rotates in situ at the sleeve position. The end of the driving axle 10 is fixedly connected to the large synchronous pulley 12.

[0031] A driving motor 13 is installed between the motor mounting plates 7, the output shaft of the driving motor 13 passes through the rear end of the motor mounting plate 7 and is connected to a small synchronous pulley 14, the driving wheel 11 is installed on the driving wheel shaft 10, and the small synchronous pulley 14 is connected to the large synchronous pulley 12 through a synchronous belt 15;

[0032] The load-bearing assembly includes a first traveling hanging wheel group 16 and a second traveling hanging wheel group 17 installed in the first groove plate 4 and the second groove plate 5. The first traveling hanging wheel group 16 and the second traveling hanging wheel group 17 have the same structure, wherein;

[0033] The first traveling hanging wheel group 16 comprises traveling hanging wheels 19 installed on both sides of the connecting member 18, the traveling hanging wheels 19 are installed on the first groove plate 4 and the second groove plate 5, and;

[0034] A third optical axis 20 is installed between the drive mounting plates 6, a suspension wheel connecting frame 21 is installed on the third optical axis 20, and the suspension wheel connecting frame 21 is fixedly connected to the connecting member 18 through a connecting rod 22;

[0035] The second traveling hanging wheel set 17 is installed between the motor mounting plates 7 .

[0036] By adopting the above technical solution, the implementation method of this solution is as follows: the hanging wheels of the first traveling hanging wheel group 16 and the second traveling hanging wheel group 17 are installed on the first groove plate 4 and the second groove plate 5 corresponding to the first track 1 and the second track 2, and the traveling hanging wheel 19 is used to bear the dead weight of the traveling body so that the driving wheel 11 is in contact with the lower surface of the first track 1 and the second track 2;

[0037] The small synchronous pulley 14 is driven to rotate by the power-on rotation of the driving motor 13. During the rotation of the small synchronous pulley 14, the large synchronous pulley 12 is driven to rotate through the synchronous belt 15. The large synchronous pulley 12 drives the driving wheel shaft 10 and the driving wheel 11 to rotate. The driving wheel 11 moves along the path formed by the first track 1 and the second track 2, and drives the traveling hanging wheel 19 to slide in the first groove plate 4 and the second groove plate 5 during the movement.

[0038] After the lower part of the traveling frame 3 carries the load, the weight of the load carried is different, so that;

[0039] After the traveling frame 3 is loaded with a load, the gravity of the load is borne by the traveling hanging wheel 19. After the traveling frame 3 is loaded with a load, the gravity is transmitted from the hanging wheel connecting frame 21 to the connecting rod 22 and the connecting member 18, and then is conducted by the traveling hanging wheel 19 to the first track 1 and the second track 2. In the above-mentioned transmission process, when the force changes, the driving mounting plate 6 and the motor mounting plate 7 rotate in situ on the first optical axis 8 and the second optical axis 9, so that the driving wheel shaft 10 is subjected to force. The driving wheel shaft 10 is subjected to force so that the driving wheel 11 is more closely in contact with the lower surface of the first track 1 and the second track 2.

[0040] When the load added to the traveling frame 3 is relatively light, the contact and extrusion between the driving wheel 11 and the lower surfaces of the first rail 1 and the second rail 2 is relatively low, and the hard friction during traveling is relatively small.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention. These improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A self-adjusting overhead rail robot, comprising: A first track (1) and a second track (2) are arranged in parallel, and a walking body sliding along the first track (1) and the second track (2), the walking body being installed in a walking frame (3), the walking body comprising a load-bearing component suspended between the first track (1) and the second track (2), and a driving component slidingly driven along the lower part of the first track (1) and the second track (2), the load-bearing component comprising a first walking hanging wheel group (16) and a second walking hanging wheel group (17) installed in a first groove plate (4) and a second groove plate (5), the first walking hanging wheel group (16) and the second walking hanging wheel group (17) having the same structure, characterized in that: The first track (1) and the second track (2) have the same structure, a first slot plate (4) extends from the bottom of the first track (1) to one side, and a second slot plate (5) extends from the bottom of the second track (2) to one side, and the first slot plate (4) and the second slot plate (5) are opposite to each other; The first traveling hanging wheel assembly (16) comprises traveling hanging wheels (19) mounted on both sides of the connecting member (18), the traveling hanging wheels (19) being mounted on the first groove plate (4) and the second groove plate (5), and; A third optical axis (20) is installed between the drive mounting plates (6), a suspension wheel connecting frame (21) is installed on the third optical axis (20), the suspension wheel connecting frame (21) is fixedly connected to the connecting member (18) via a connecting rod (22), a second traveling suspension wheel assembly (17) is installed between the motor mounting plates (7), and the load-bearing assembly is caused to travel along the first track (1) and the second track (2) via the driving assembly; The driving assembly comprises a driving mounting plate (6) and a motor mounting plate (7) mounted between the walking frames (3), the driving mounting plate (6) and the motor mounting plate (7) each comprising two pieces, the two driving mounting plates (6) being sleeved on a first optical axis (8), the first optical axis (8) being fixed to one end of the walking frame (3), the two motor mounting plates (7) being sleeved on a second optical axis (9), the second optical axis (9) being fixed to the other end of the walking frame (3), a driving wheel shaft (10), the other end of the motor mounting plate (7) and the other end of the driving mounting plate (6) being sleeved on the driving wheel shaft ( 10), a driving wheel (11) is provided on the driving wheel shaft (10), a motor mounting plate (7) and a driving mounting plate (6) are rotatably mounted on the driving wheel shaft (10), an end of the driving wheel shaft (10) is fixedly connected to a large synchronous pulley (12), a driving motor (13) is mounted between the motor mounting plates (7), an output shaft of the driving motor (13) passes through the rear end of the motor mounting plates (7) and is connected to a small synchronous pulley (14), the driving wheel (11) is mounted on the driving wheel shaft (10), and the small synchronous pulley (14) and the large synchronous pulley (12) are connected via a synchronous belt (15); After the lower part of the walking frame (3) carries the load, the weight of the carried load is different, so that; After the travel frame (3) is loaded with a load, the weight of the load is borne by the travel suspension wheel (19). After the travel frame (3) is loaded with a load, the weight is transmitted from the suspension wheel connecting frame (21) to the connecting rod (22) and the connecting member (18), and then is conducted by the travel suspension wheel (19) to the first track (1) and the second track (2). In the process of transmission, when the force changes, the drive mounting plate (6) and the motor mounting plate (7) rotate in situ on the first optical axis (8) and the second optical axis (9), so that the drive wheel shaft (10) is subjected to force. The force on the drive wheel shaft (10) makes the contact between the drive wheel (11) and the lower surface of the first track (1) and the second track (2) closer. When the load added to the walking frame (3) is relatively light, the contact and extrusion between the driving wheel (11) and the lower surfaces of the first rail (1) and the second rail (2) is relatively low, and the hard friction during walking is relatively small.

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