Multi-degree-of-freedom hanging rail slewing mechanism

Abstract

The invention relates to the technical field of hoisting square tube rail robots, in particular to a multi-degree-of-freedom rail hanging slewing mechanism which comprises a mounting base and two hanging frameworks, the hanging frameworks are arranged on the two sides of the mounting base, upper slewing bearings are fixedly connected to the bottoms of the hanging frameworks, and bearing connecting plates are fixedly connected to the bottoms of the upper slewing bearings; the bottoms of the bearing connecting plates are fixedly connected with lower pivotal bearings, the bottoms of the lower pivotal bearings are fixedly connected with the two sides of the mounting base correspondingly, the interior of the suspension framework is rotationally connected with two walking wheels side by side, the two sides of the inner wall of the suspension framework are fixedly connected with side limiting wheels, and the bottom of the inner wall of the suspension framework is rotationally connected with lower limiting wheels. The two-degree-of-freedom swing mechanism has the beneficial effects that on one hand, when the robot climbs a slope, the two-degree-of-freedom swing mechanism can optimize gravity center distribution through vertical adjustment, stress on front and rear wheels is more uniform, the climbing stability is improved, and compared with a traditional device, the operation quality and the use efficiency are greatly improved;

Description

Technical Field

[0001] The invention relates to the technical field of square tube rail hoisting robots, and in particular to a multi-degree-of-freedom rail hanging rotating mechanism. Background Art

[0002] The square tube track robot is an automation equipment widely used in warehouses, workshops, logistics centers and other places. It can carry and lift objects by hanging on the square tube track. This robot has simple design and flexible operation, but there are still some technical limitations in practical application, especially in the design of the suspension slewing mechanism and climbing ability.

[0003] At present, the suspension slewing mechanism of the lifting square tube track robot usually has only one degree of freedom, that is, it can only rotate in the horizontal plane. This design does not cause any problems when running on a straight track, but when complex turns or multi-directional operations are required, there are the following shortcomings:

[0004] The turning flexibility is low. The single-degree-of-freedom slewing mechanism is greatly affected by the wheelbase of the walking wheel when turning, which makes the robot prone to jamming or instability during turning.

[0005] The center of gravity is unstable. When the robot climbs a slope, the front and rear wheels are prone to uneven force due to the change in the center of gravity, which affects the stability of the robot and causes the robot to tilt its head or tail, further increasing the difficulty and risk of operation.

[0006] To solve the above problems, we have introduced a multi-degree-of-freedom hanging rail rotating mechanism. Summary of the invention

[0007] The invention discloses a multi-degree-of-freedom rail hanging rotation mechanism, aiming to solve the technical problems in the background technology.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A multi-degree-of-freedom hanging rail slewing mechanism comprises a mounting base and two suspension frames, wherein the suspension frames are arranged on both sides of the mounting base, the bottoms of the suspension frames are fixedly connected with upper slewing bearings, the bottoms of the upper slewing bearings are fixedly connected with bearing connecting plates, the bottoms of the bearing connecting plates are fixedly connected with lower slewing bearings, the bottoms of the lower slewing bearings are respectively fixedly connected to both sides of the mounting base, the interior of the suspension frames are rotatably connected with two walking wheels side by side, side limit wheels are fixedly connected with both sides of the inner wall of the suspension frames, and the bottom of the inner wall of the suspension frames is rotatably connected with lower limit wheels.

[0010] The upper slewing bearing and the lower slewing bearing are set to ensure that the suspension frame can rotate freely on the mounting base, providing multi-degree-of-freedom movement. The walking wheels roll on the track to reduce friction and ensure the smooth movement of the robot on the track. The side limit wheels and the lower limit wheels ensure multi-directional limitation of the robot on the track to prevent the robot from deviating or derailing during movement, thereby improving stability and safety.

[0011] In a preferred solution, a support plate is fixedly connected to one side of the top of the mounting base, and two driving wheels are rotatably connected between the top of the mounting base and the bottom of the support plate, and the two driving wheels cooperate with each other.

[0012] By setting up a support plate to provide additional mechanical support, the two driving wheels can provide a more stable driving force when used in conjunction with each other, ensuring the precise movement of the robot on the track and improving movement efficiency and reliability.

[0013] In a preferred embodiment, the outside of the central axis of the driving wheel is fixedly connected to a driven gear, the bottom of the support plate is fixedly connected to a reduction motor, the output shaft of the reduction motor passes through the support plate and is fixedly connected to a driving gear, and the driving gear is meshed with the driven gear.

[0014] By setting the reduction motor through the meshing of the driving gear and the driven gear, the driving wheel rotates to provide precise motion control. The use of the reduction motor can ensure high torque at low speed, improve driving force and motion accuracy.

[0015] In a preferred solution, two sliding grooves are provided on the top of the mounting base, the interiors of the sliding grooves are slidably connected with sliding blocks, and the tops of the sliding blocks are rotatably connected with tensioning wheels.

[0016] The combination of the sliding groove and the sliding block is provided to ensure the smooth sliding of the tensioning wheel. The tensioning wheel can adjust the tension of the transmission belt, ensure the stability and driving efficiency of the transmission belt, and improve the reliability and accuracy of the movement.

[0017] In a preferred solution, one side of the sliding block is fixedly connected with a spring compression sleeve, one side of the mounting base is rotatably connected with two guide bolts, and one end of the guide bolts is threadedly connected with one end of the corresponding spring compression sleeve.

[0018] By setting the spring compression sleeve to be threadedly connected to the guide bolt, the position of the sliding block can be fine-tuned by adjusting the position of the guide bolt, thereby accurately adjusting the tensioning force of the tensioning wheel to ensure the optimal tensioning state of the transmission belt and improve the stability and reliability of the transmission.

[0019] In a preferred solution, a rectangular spring is sleeved outside the spring compression sleeve and between the inner wall of the sliding groove and one side of the sliding block.

[0020] By setting a rectangular spring to provide a constant pressing force, the sliding block and the tensioning wheel are always in an ideal position, ensuring the tension of the transmission belt, reducing the relaxation and slippage of the transmission belt, and improving the transmission efficiency and movement stability.

[0021] In a preferred solution, protective covers are fixedly connected to the exteriors of the suspension frame and the support plate.

[0022] By setting up protective covers, internal mechanical components are protected from external dust and debris, the service life of the equipment is extended and the safety and comfort of the working environment are improved.

[0023] The multi-degree-of-freedom rail hanging rotation mechanism provided by the present invention has the following advantages:

[0024] In the present invention, the upper slewing bearing and the lower slewing bearing ensure that the suspension frame can rotate freely on the mounting base, providing multi-degree-of-freedom movement. The walking wheels roll on the track to reduce friction and ensure the smooth movement of the robot on the track. On the one hand, when the robot is climbing a slope, the slewing mechanism with two degrees of freedom can optimize the center of gravity distribution through vertical adjustment, so that the force on the front and rear wheels is more even, thereby improving the stability of climbing. On the other hand, the slewing mechanism with two degrees of freedom can be independently adjusted in the horizontal and vertical planes, so that the robot is more flexible and free when turning, and can adapt to tracks with different curvatures, which greatly improves the operation quality and use efficiency compared with traditional devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The isometric stereoscopic schematic diagram of a multi-degree-of-freedom rail hanging rotation mechanism proposed by the present invention.

[0026] Figure 2 This is a partial isometric schematic diagram of a multi-degree-of-freedom rail hanging rotation mechanism proposed by the present invention.

[0027] Figure 3 This is a schematic diagram of the driving wheel structure of a multi-degree-of-freedom rail hanging rotation mechanism proposed by the present invention.

[0028] Figure 4 This is a schematic diagram of the isometric structure of a suspension skeleton of a multi-degree-of-freedom rail hanging slewing mechanism proposed by the present invention.

[0029] Figure 5 This is a schematic diagram of the isometric structure of a suspension skeleton of a multi-degree-of-freedom rail hanging slewing mechanism proposed by the present invention.

[0030] In the attached figure: 1. Mounting base; 2. Suspension frame; 3. Upper slewing bearing; 4. Bearing connecting plate; 5. Lower slewing bearing; 6. Travel wheel; 7. Side limit wheel; 8. Lower limit wheel; 9. Support plate; 10. Driving wheel; 11. Driven gear; 12. Reduction motor; 13. Driving gear; 14. Sliding groove; 15. Sliding block; 16. Tensioning wheel; 17. Spring sleeve; 18. Rectangular spring; 19. Guide bolt; 20. Protective cover. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and marked in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0032] The multi-degree-of-freedom rail hanging slewing mechanism disclosed in the present invention is mainly used in the scene of hoisting a square tube track robot.

[0033] Reference Figure 1-Figure 5 A multi-degree-of-freedom hanging rail slewing mechanism comprises a mounting base 1 and two suspension frames 2. The suspension frames 2 are arranged on both sides of the mounting base 1. The bottom of the suspension frames 2 is fixedly connected with an upper slewing bearing 3. The bottom of the upper slewing bearing 3 is fixedly connected with a bearing connecting plate 4. The bottom of the bearing connecting plate 4 is fixedly connected with a lower slewing bearing 5. The bottom of the lower slewing bearing 5 is respectively fixedly connected to both sides of the mounting base 1. Two walking wheels 6 are rotatably connected to the inside of the suspension frames 2. Side limit wheels 7 are fixedly connected to both sides of the inner wall of the suspension frames 2. The bottom of the inner wall of the suspension frames 2 is rotatably connected with a lower limit wheel 8.

[0034] In this embodiment: the upper slewing bearing 3 and the lower slewing bearing 5 ensure that the suspension frame 2 can rotate freely on the mounting base 1, providing multi-degree-of-freedom movement. The walking wheels 6 roll on the track to reduce friction and ensure the smooth movement of the robot on the track. The side limit wheels 7 and the lower limit wheels 8 ensure multi-directional limitation of the robot on the track to prevent the robot from deviating or derailing during movement, thereby improving stability and safety.

[0035] In a preferred embodiment, a support plate 9 is fixedly connected to one side of the top of the mounting base 1, and two driving wheels 10 are rotatably connected between the top of the mounting base 1 and the bottom of the support plate 9, and the two driving wheels 10 are used in coordination with each other.

[0036] In this embodiment: the support plate 9 provides additional mechanical support, and the two driving wheels 10 can provide a more stable driving force by being used in conjunction with each other, thereby ensuring the precise movement of the robot on the track and improving movement efficiency and reliability.

[0037] In a preferred embodiment, the outside of the central axis of the driving wheel 10 is fixedly connected to a driven gear 11, the bottom of the support plate 9 is fixedly connected to a reduction motor 12, the output shaft of the reduction motor 12 passes through the support plate 9 and is fixedly connected to a driving gear 13, and the driving gear 13 is meshed with the driven gear 11.

[0038] In this embodiment: the reduction motor 12 drives the driving wheel 10 to rotate through the engagement of the driving gear 13 and the driven gear 11, providing precise motion control. The use of the reduction motor 12 can ensure high torque at low speed, improve driving force and motion accuracy.

[0039] In a preferred embodiment, two sliding grooves 14 are provided on the top of the mounting base 1 , and sliding blocks 15 are slidably connected inside the sliding grooves 14 , and tensioning wheels 16 are rotatably connected to the tops of the sliding blocks 15 .

[0040] In this embodiment, the combination of the sliding groove 14 and the sliding block 15 ensures the smooth sliding of the tensioning wheel 16. The tensioning wheel 16 can adjust the tension of the transmission belt, ensure the stability and driving efficiency of the transmission belt, and improve the reliability and accuracy of the movement.

[0041] In a preferred embodiment, one side of the sliding block 15 is fixedly connected with a spring compression sleeve 17 , and one side of the mounting base 1 is rotatably connected with two guide bolts 19 , one end of the guide bolts 19 is threadedly connected with one end of the corresponding spring compression sleeve 17 .

[0042] In this embodiment: the spring compression sleeve 17 is threadedly connected to the guide bolt 19, and the position of the sliding block 15 can be fine-tuned by adjusting the position of the guide bolt 19, thereby accurately adjusting the tensioning force of the tensioning wheel 16 to ensure the optimal tensioning state of the transmission belt and improve the stability and reliability of the transmission.

[0043] In a preferred embodiment, a rectangular spring 18 is sleeved outside the spring compression sleeve 17 and between the inner wall of the sliding groove 14 and one side of the sliding block 15 .

[0044] In this embodiment, the rectangular spring 18 provides a constant pressing force, so that the sliding block 15 and the tensioning wheel 16 are always in an ideal position, ensuring the tension of the transmission belt, reducing the relaxation and slippage of the transmission belt, and improving the transmission efficiency and movement stability.

[0045] In a preferred embodiment, a protective cover 20 is fixedly connected to the outside of the suspension frame 2 and the support plate 9 .

[0046] In this embodiment, the protective cover 20 protects the internal mechanical components from the influence of external dust and debris, prolongs the service life of the equipment, and improves the safety and comfort of the working environment.

[0047] Working principle: When in use, the entire mechanism is suspended on the square tube track, the walking wheel 6 contacts the top of the square tube track, the side limit wheels 7 contact the two sides of the square tube track, and the lower limit wheel 8 contacts the bottom of the square tube track to ensure stable support and guidance of the mechanism. By adjusting the guide bolt 19, the position of the spring compression sleeve 17 can be adjusted, and then the position of the sliding block 15 can be adjusted to make the tensioning wheel 16 close to the square tube track, increase the friction between the driving wheel 10 and the square tube track, and ensure the stability of the drive. The rectangular spring 18 provides tension to ensure that the tensioning wheel 16 is always close to the square tube track. The output shaft of the reduction motor 12 drives the driving gear 13 to rotate, and the driving gear 13 meshes with the driven gear 11 to rotate the driven gear 11. The rotation of the driven gear 11 causes the corresponding driving wheel 10 to rotate. The driving wheel 10 contacts the inner surface of the square tube track, and the entire mechanism moves along the square tube track through friction. The two driving wheels 10 and the driven gear 11 are respectively arranged on both sides of the mounting base 1. The mechanism can be driven by the reduction motor 12 to move forward and backward on the square tube track. The rotating structure formed by the upper slewing bearing 3 and the lower slewing bearing 5 allows the suspension frame 2 to rotate in the horizontal direction to achieve multi-degree-of-freedom movement of the mechanism. The two-degree-of-freedom rotating mechanism can be independently adjusted in the horizontal and vertical planes, making the robot more flexible and free when turning, and can adapt to tracks with different curvatures, which greatly improves the operation quality and use efficiency compared with traditional devices.

[0048] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. The replacement may be a replacement of a part of the structure, device, method step, or a complete technical solution. Any equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom hanging rail slewing mechanism, comprising a mounting base (1) and two hanging frames (2), characterized in that: The suspension frames (2) are arranged on both sides of the mounting base (1); the bottom of the suspension frames (2) is fixedly connected to an upper slewing bearing (3); the bottom of the upper slewing bearing (3) is fixedly connected to a bearing connecting plate (4); the bottom of the bearing connecting plate (4) is fixedly connected to a lower slewing bearing (5); the bottom of the lower slewing bearing (5) is respectively fixedly connected to both sides of the mounting base (1); the interior of the suspension frames (2) is rotatably connected to two walking wheels (6) in parallel; both sides of the inner wall of the suspension frames (2) are fixedly connected to side limit wheels (7); and the bottom of the inner wall of the suspension frames (2) is rotatably connected to a lower limit wheel (8).

2. The multi-degree-of-freedom rail-hanging slewing mechanism according to claim 1, characterized in that: A support plate (9) is fixedly connected to one side of the top of the mounting base (1), and two driving wheels (10) are rotatably connected between the top of the mounting base (1) and the bottom of the support plate (9), and the two driving wheels (10) are used in coordination with each other.

3. The multi-degree-of-freedom rail-hanging slewing mechanism according to claim 2, characterized in that: The outside of the central axis of the driving wheel (10) is fixedly connected to a driven gear (11), the bottom of the support plate (9) is fixedly connected to a reduction motor (12), the output shaft of the reduction motor (12) passes through the support plate (9) and is fixedly connected to a driving gear (13), and the driving gear (13) is meshedly connected to the driven gear (11).

4. The multi-degree-of-freedom rail-hanging slewing mechanism according to claim 1, characterized in that: Two sliding grooves (14) are provided on the top of the mounting base (1), and sliding blocks (15) are slidably connected inside the sliding grooves (14), and tension wheels (16) are rotatably connected to the tops of the sliding blocks (15).

5. The multi-degree-of-freedom rail-hanging slewing mechanism according to claim 4, characterized in that: One side of the sliding block (15) is fixedly connected to a spring compression sleeve (17), and one side of the mounting base (1) is rotatably connected to two guide bolts (19), one end of each guide bolt (19) being threadedly connected to one end of a corresponding spring compression sleeve (17).

6. The multi-degree-of-freedom rail-hanging slewing mechanism according to claim 5, characterized in that: A rectangular spring (18) is sleeved outside the spring compression sleeve (17) and between the inner wall of the sliding groove (14) and one side of the sliding block (15).

7. The multi-degree-of-freedom rail-hanging slewing mechanism according to claim 2, characterized in that: The exteriors of the suspension frame (2) and the support plate (9) are both fixedly connected with protective covers (20).

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