Right-angle turning cable-driven sliding rail system

Abstract

The invention belongs to the technical field of robots, and particularly relates to a right-angle turning cable-driven sliding rail system which comprises a walking guide rail and a robot body. The walking guide rail is fixedly installed on a truss of a building platform and composed of a plurality of pieces of I-shaped steel, and a track of a nine-square structure is formed. The robot body moves in the shape of a Chinese character'kou 'in eight grids outside the nine-square grid, rail transfer assemblies are arranged at the rail intersection positions of the walking guide rails, and the robot body turns in a right-angle mode through the rail transfer assemblies. The rail changing assembly comprises a direction changing guide rail and an annular guide rail. By arranging the walking guide rail, the robot body, the rail transfer assembly and other structures, the robot body can turn at a right angle, the robot body can conveniently move in a large-range working area in a turning mode, the working efficiency and operation safety are improved, in addition, the operation coverage rate is increased, and the working efficiency is improved. And safety accidents easily caused by long-time operation of personnel entering the site are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, in particular to a right-angle direction-changing cable-driven slide rail system. Background Art

[0002] At present, most construction robots move in the form of wheels, tracks, legs, or composites during operation, and use manipulators to move the execution end to the designated work area. Before the operation of the track-type cable-driven flexible robot, steps such as position determination, rope contraction state, and determination of the size and direction of the rope force are involved. Among them, position determination is often achieved by moving a group of four cable-driven robots in a directional manner to a determined working position or by fixing a group of cable-driven robots on a platform above the work area.

[0003] However, the first method requires the use of multiple groups of robots, and each robot needs to leave enough space when working to avoid collision, which limits the coverage of the robot at work, thus affecting work efficiency; the second method is suitable for small working areas. If the working area is large, the cable-driven robot needs to change direction and move on the working platform. It is necessary to place multiple groups of cable-driven robots on the building platform to work or set up rounded corners or curved I-beam tracks to enable the cable-driven robots to turn. When the cable-driven robot passes through rounded corners or I-beam curved tracks, the angle position of the fuselage will change, and the cable output position and angle will change. The robot parameters need to be readjusted before engineering operations, which consumes a lot of time and affects the work progress.

[0004] To this end, the present invention provides a right-angle change-of-direction cable-driven slide rail system. Summary of the invention

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a right-angle change-direction cable-driven slide rail system described in the present invention comprises a walking guide rail and a robot body;

[0007] The walking guide rail is fixedly installed on the truss of the building platform. The walking guide rail is composed of a plurality of I-beams to form a track of a nine-square grid structure. The robot body moves in a "mouth" shape in the eight grids outside the nine-square grid. A track change assembly is provided at the intersection of the tracks of the walking guide rail, and the track change assembly is used to make the robot body turn at a right angle.

[0008] The track changing assembly includes a turning guide rail and an annular guide rail. A space is reserved at the intersection of the walking guide rails to allow the turning guide rail to rotate. The turning guide rail is rotatably installed on a truss. Fixed plates are symmetrically fixed to the top of both ends of the turning guide rail. Multiple groups of guide wheels are rotatably installed on the top of the fixed plate. An annular guide rail is provided between the guide wheels. The annular guide rail is fixedly connected to the truss, and a motor for driving the guide wheel to rotate is fixed to the fixed plate.

[0009] Preferably, the robot body includes an electric box, a cable control mechanism is fixed on the side of the electric box, a base plate is provided above the electric box, connecting plates are fixedly installed on both sides of the top of the base plate, walking wheels are rotatably installed on opposite surfaces of the connecting plates on both sides, the walking wheels are adapted to the walking guide rails, and two motors for driving the walking wheels to rotate are installed on the sides of the connecting plates.

[0010] Preferably, a limiting mechanism is provided on the side of the connecting plate, and the limiting mechanism comprises a hydraulic cylinder, and the hydraulic cylinder is fixed to the side wall of the connecting plate through a mounting plate.

[0011] Preferably, a driving assembly for driving the electrical box and the cable control mechanism to rotate is provided on the base plate, and the driving assembly includes gear 2, which is rotatably installed between the base plate and the electrical box through an installation shaft, and gear 1 is rotatably installed below the base plate, and gear 1 is meshed with gear 2, and a motor 3 for driving gear 1 to rotate is fixed on the base plate.

[0012] Preferably, the connecting plate is composed of symmetrically arranged L-shaped plate member 1 and plate member 2, the plate member 2 is fixed on the bottom plate, the plate member 1 is slidably arranged above the bottom plate, a mounting assembly is provided between the plate member 1 and the plate member 2, the mounting assembly includes a through slot opened in the middle of the bottom of the plate member 1, a guide rod is fixed on the side of the plate member 2 at a position relative to the through slot, the guide rod slides through the through slot, a movable cavity is opened in the middle of the end of the guide rod away from the plate member 2, a movable block is slidably installed at the end of the movable cavity, two springs are fixed inside the movable cavity to reset the movable block, and limit plates are rotatably installed at both ends of the movable block.

[0013] Preferably, a mounting hole is opened in the middle of the bottom of both ends of the plate, a bolt is arranged in the middle of the mounting hole, the end of the bolt passes through the mounting hole and is threadedly connected to the threaded hole opened on the side of the plate, a stepped hole is arranged inside the mounting hole, and a spring is installed in the stepped hole.

[0014] Preferably, limiting grooves are provided on the side walls on both sides of the guide rod, and limiting blocks are provided on both sides of the through groove, and the limiting blocks are slidably arranged in the limiting grooves.

[0015] Preferably, a slot is provided on the outer wall of the plate member 1, and the slot is adapted to fit the limiting plate.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The right-angle change-of-direction cable-driven slide rail system described in the present invention, by setting structures such as walking guide rails, robot body, and change-of-direction components, when the robot body needs to make a right-angle turn during movement along the walking guide rails, the robot body is moved to the change-of-direction guide rail located at the intersection of the guide rails, and then the motor is controlled to rotate, and the motor drives the guide wheel to rotate, so that the guide wheel rolls relatively along the side wall of the annular guide rail, and then drives the change-of-direction guide rail to rotate 90 degrees through the fixed plate, so that the robot body remaining on the change-of-direction guide rail can be driven to rotate 90 degrees synchronously, and the robot body can realize a right-angle turn, which is convenient for the robot body to change direction and move in a large working area, thereby improving work efficiency and operational safety. In addition, after the robot body realizes the change-of-direction movement, the operation coverage rate is improved, and the number of people entering the site for long-term operations and the occurrence of safety accidents is reduced.

[0018] 2. The right-angle change-of-direction cable-driven slide rail system described in the present invention drives the cable control mechanism to rotate in the opposite direction relative to the change-of-direction track by setting a driving component. After receiving the track change signal, motor one drives the change-of-direction guide rail to rotate counterclockwise, and motor three drives gear one and gear two to rotate in opposite directions and at the same speed, so that the cable control mechanism is absolutely stationary in space, ensuring that the cable output direction remains unchanged, so as to reduce the robot body cable output parameter adjustment and debugging time, and further improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 is a stereogram of the present invention;

[0021] Figure 2 It is a schematic diagram of the installation position of the direction-changing track of the present invention;

[0022] Figure 3 is a schematic structural diagram of a direction-changing assembly of the present invention;

[0023] Figure 4 It is a partial structural schematic diagram of the present invention;

[0024] Figure 5 It is a schematic diagram of the installation position of the hydraulic cylinder of the present invention;

[0025] Figure 6 is a schematic diagram of the structure of the drive assembly of the present invention;

[0026] Figure 7 is a schematic diagram of the hydraulic cylinder fluid and the changeable guide rail of the present invention;

[0027] Figure 8 is a schematic diagram of the structure of the installation assembly of the present invention;

[0028] Fig. 9 is a partial cross-sectional view of the present invention;

[0029] Fig.10 yes Fig. 9 A schematic diagram of the structure enlargement in the middle;

[0030] Fig.11 It is a schematic diagram of the limiting block and the limiting groove in the present invention.

[0031] In the figure: 1. walking guide rail; 2. robot body; 3. turning guide rail; 4. ring guide rail; 5. fixing plate; 6. guide wheel; 7. motor 1; 8. connecting plate; 81. plate 1; 82. plate 2; 9. motor 2; 10. walking wheel; 11. bottom plate; 12. electric box; 13. motor 3; 14. mounting plate; 15. hydraulic cylinder; 16. gear 1; 17. gear 2; 18. guide rod; 19. movable block; 20. limit plate; 21. slot; 22. through slot; 23. mounting hole; 24. bolt; 25. spring 1; 26. spring 2; 27. limit block; 28. limit slot. DETAILED DESCRIPTION

[0032] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0033] Embodiment 1: Figures 1 to 10 As shown, a right-angle change-of-direction cable-driven slide rail system according to an embodiment of the present invention comprises a walking guide rail 1 and a robot body 2;

[0034] The walking guide rail 1 is fixedly installed on the truss of the building platform. The walking guide rail 1 is composed of a plurality of I-beams to form a track of a nine-square grid structure. The robot body 2 makes a "mouth"-shaped movement in the eight grids outside the nine-square grid. A track change assembly is provided at the intersection of the tracks of the walking guide rail 1, and the robot body 2 is turned at a right angle by the track change assembly; the robot body 2 is installed on the truss located above the working surface to reduce contact with the working surface, thereby reducing damage to the working surface;

[0035] The track changing assembly includes a turning guide rail 3 and an annular guide rail 4. A space is reserved at the intersection of the walking guide rail 1 to allow the turning guide rail 3 to rotate. The turning guide rail 3 is rotatably mounted on the truss. Fixed plates 5 are symmetrically fixed on the top of both ends of the turning guide rail 3. Multiple groups of guide wheels 6 are rotatably mounted on the top of the fixed plate 5. An annular guide rail 4 is arranged between the guide wheels 6. The annular guide rail 4 is fixedly connected to the truss. A motor 7 for driving the guide wheel 6 to rotate is fixed on the fixed plate 5.

[0036] When working, the robot body 2 moves in a straight line along the walking guide rail 1. When a right-angle turn is required during the movement, the robot body 2 is moved to the changing guide rail 3 located at the intersection of the guide rails, and then the motor 7 is controlled to rotate. The motor 7 drives the guide wheel 6 to rotate, so that the guide wheel 6 rolls relatively along the side wall of the annular guide rail 4, and then drives the changing guide rail 3 to rotate 90 degrees through the fixed plate 5, so that the robot body 2 staying on the changing guide rail 3 can be driven to rotate 90 degrees synchronously, so that the forward direction of the robot body 2 can be switched to another guide rail perpendicular to the original walking guide rail 1, and the robot body 2 can realize a right-angle turn, which is convenient for the robot body 2 to change direction and move in a large working area, thereby improving work efficiency and operational safety. In addition, after the robot body 2 realizes the change of direction, the operation coverage rate is improved, and the number of people entering the site for long-term operations and prone to safety accidents is reduced.

[0037] The robot body (2) comprises an electric box 12, a cable control mechanism is fixed on the side of the electric box 12, a bottom plate 11 is arranged above the electric box 12, connecting plates 8 are fixedly installed on both sides of the top of the bottom plate 11, and walking wheels 10 are rotatably installed on the opposite surfaces of the connecting plates 8 on both sides, the walking wheels 10 are adapted to the walking guide rail 1, and a motor 9 for driving the walking wheels 10 to rotate is installed on the side of the connecting plate 8; when working, the walking wheels 10 are driven by the motor 9 to move along the walking guide rail 1, thereby driving the cable control mechanism to move synchronously, and by arranging 4 groups of robot bodies 2 carrying the cable control mechanism to operate synchronously on the walking guide rail 1 of the nine-square grid, the 4 groups of robot bodies 2 can move simultaneously, at the same speed, and in the same direction through wired communication, and a circular track is used to realize a 90° track change during the direction change of the robot body 2, so as to facilitate the direction change of the cable-driven robot in a large working area and improve work efficiency.

[0038] A limiting mechanism is provided on the side of the connecting plate 8, and the limiting mechanism includes a hydraulic cylinder 15, and the hydraulic cylinder 15 is fixed to the side wall of the connecting plate 8 through a mounting plate 14; during operation, when the robot body 2 moves onto the turning guide rail 3, the telescopic end of the hydraulic cylinder 15 is controlled to extend and press against the side wall of the turning guide rail 3, so as to limit the robot body 2 on the turning guide rail 3, making it more stable during the turning process, and avoiding sliding and falling off the turning guide rail 3.

[0039] The base plate 11 is provided with a driving assembly for driving the electric box 12 and the cable control mechanism to rotate, and the driving assembly includes a gear 2 17, and the gear 2 17 is rotatably installed between the base plate 11 and the electric box 12 through an installation shaft. A gear 16 is rotatably installed below the base plate 11, and the gear 16 and the gear 2 17 are meshed with each other. A motor 3 13 for driving the gear 16 to rotate is fixed on the base plate 11; during operation, after receiving a track change signal, the motor 1 7 drives the changing guide rail 3 to rotate counterclockwise, and the motor 3 13 drives the gear 1 16 and the gear 2 17 to rotate in opposite directions and at the same speed. The diameter of the gear 1 16 is smaller than that of the gear 2 17 to realize differential motion, so that the cable control mechanism is absolutely stationary in space, and the cable output direction is guaranteed to remain unchanged, so as to reduce the cable output parameter adjustment and debugging time of the robot body 2, and further improve the work efficiency.

[0040] The connecting plate 8 is composed of a symmetrically arranged L-shaped plate member 1 81 and a plate member 2 82, wherein the plate member 2 82 is fixed on the bottom plate 11, and the plate member 1 81 is slidably arranged above the bottom plate 11, and a mounting assembly is arranged between the plate member 1 81 and the plate member 2 82, and the mounting assembly includes a through slot 22 opened in the middle of the bottom of the plate member 1 81, and a guide rod 18 is fixed at a position relative to the through slot 22 on the side of the plate member 2 82, and the guide rod 18 slides through the through slot 22, and an active cavity is opened in the middle of the end of the guide rod 18 away from the plate member 2 82, and an active block 19 is slidably installed at the end of the active cavity, and a spring 26 is fixed inside the active cavity to reset the active block 19, and limit plates 20 are rotatably installed at both ends of the active block 19;

[0041] During operation, when the robot body 2 needs to be installed on the walking guide rail 1, the limit plate 20 is pulled outward, and the limit plate 20 stretches the spring 26 through the movable block 19, and the end of the limit plate 20 is separated from the plate 1 81. At this time, the plate 1 81 can be pulled to move in the direction away from the plate 2 82 to increase the distance between the walking wheels 10 on both sides, and then the walking wheels 10 on both sides are moved to the corresponding positions on both sides of the walking guide rail 1, and then the limit plate 20 is rotated in the opposite direction, and the limit plate 20 is pushed by the spring 26 to press against the side wall of the plate 1 81, so that the walking wheels 10 on both sides can be stably overlapped on both sides of the walking guide rail 1, thereby facilitating the rapid installation of the robot body 2 on the walking guide rail 1; at the same time, it is also convenient to disassemble the robot body 2, so as to realize the rapid disassembly and assembly of the robot body 2, improve the disassembly and assembly efficiency, and facilitate the replacement and maintenance of the robot body 2.

[0042] A mounting hole 23 is provided in the middle of the bottom of both ends of the plate 81, and a bolt 24 is provided in the middle of the mounting hole 23. The end of the bolt 24 passes through the mounting hole 23 and is threadedly connected to the threaded hole provided on the side of the plate 82. A stepped hole is provided inside the mounting hole 23, and a spring 25 is installed in the stepped hole. During operation, the bolt 24 and the mounting hole 23 cooperate to limit the plate 81 so that the positions of the plate 81 and the plate 82 always correspond. In addition, when the limiting plate 20 no longer abuts against the side wall of the plate 81, the spring 25 pushes the plate 81 to move away from the plate 82, thereby automatically separating the plate 81 and the plate 82, making the installation and disassembly process of the robot body 2 simpler.

[0043] A slot 21 is provided on the outer wall of the plate 81, and the slot 21 is adapted to the limit plate 20; when working, when the end of the limit plate 20 abuts against the slot 21 of the outer wall of the plate 81, the shaking range of the limit plate 20 can be limited, and the limit plate 20 will not be loosened due to external vibration, thereby ensuring that the plate 81 will not move, so that the walking wheels 10 on both sides are always stably overlapped on the walking guide rail 1.

[0044] Embodiment 2: Fig.11 As shown, compared with Example 1, another implementation of the present invention is: limiting grooves 28 are opened on the side walls of both sides of the guide rod 18, and limiting blocks 27 are provided on both sides of the through groove 22, and the limiting blocks 27 are slidably set in the limiting grooves 28; when working, by setting the limiting grooves 28 and the limiting blocks 27, the movement direction of the plate 81 is limited, so that the plate 81 can only move in a straight line along the length direction of the guide rod 18, so that the installation of the plate 81 is more stable.

[0045] Working principle: The motor 2 9 drives the walking wheel 10 to move along the walking guide rail 1, and then drives the cable control mechanism to move synchronously, and the robot body 2 moves linearly along the walking guide rail 1. When a right-angle turn is required during the movement, the robot body 2 moves to the change-direction guide rail 3 located at the intersection of the guide rails, and then controls the motor 1 7 to rotate, and the motor 1 7 drives the guide wheel 6 to rotate, so that the guide wheel 6 rolls relatively along the side wall of the annular guide rail 4, and then drives the change-direction guide rail 3 to rotate 90 degrees through the fixed plate 5, so that the robot body 2 staying on the change-direction guide rail 3 can be driven to rotate 90 degrees synchronously, so that the forward direction of the robot body 2 can be switched to another direction perpendicular to the original walking guide rail 1. On the guide rail, the robot body 2 realizes a right-angle turn; when the robot body 2 moves onto the turning guide rail 3, the telescopic end of the hydraulic cylinder 15 is controlled to extend and press against the side wall of the turning guide rail 3, so as to restrict the robot body 2 on the turning guide rail 3, making it more stable during the turning process, and avoiding sliding and falling off the turning guide rail 3; after receiving the track change signal, the motor 1 7 drives the turning guide rail 3 to rotate counterclockwise, and the motor 3 13 drives the gear 1 16 and the gear 2 17 to rotate in opposite directions and at the same speed, so that the cable control mechanism is absolutely stationary in the space, ensuring that the cable output direction remains unchanged, so as to reduce the adjustment and debugging time of the cable output parameters of the robot body 2, and further improve the work efficiency.

[0046] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1 As a benchmark, according to the person's observation perspective, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0047] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the scope of protection of the present invention.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A right-angle change-of-direction cable-driven slide rail system, characterized in that: It comprises a walking guide rail (1) and a robot body (2); The walking guide rail (1) is fixedly mounted on the truss of the building platform. The walking guide rail (1) is composed of a plurality of I-beams to form a track of a nine-square grid structure. The robot body (2) performs a "mouth"-shaped movement in the eight grids outside the nine-square grid. A track change assembly is provided at the intersection of the tracks of the walking guide rail (1), and the robot body (2) is turned at a right angle by means of the track change assembly. The track changing assembly comprises a turning guide rail (3) and an annular guide rail (4); a space is reserved at the intersection of the travel guide rail (1) to allow the turning guide rail (3) to rotate; the turning guide rail (3) is rotatably mounted on a truss; fixed plates (5) are symmetrically fixed at the top of both ends of the turning guide rail (3); a plurality of guide wheels (6) are rotatably mounted on the top of the fixed plates (5); an annular guide rail (4) is provided between the guide wheels (6); the annular guide rail (4) is fixedly connected to the truss; a motor (7) for driving the guide wheel (6) to rotate is fixed on the fixed plate (5).

2. A right-angle change-of-direction cable-driven slide rail system according to claim 1, characterized in that: The robot body (2) comprises an electric box (12), a cable control mechanism is fixed on the side of the electric box (12), a bottom plate (11) is arranged above the electric box (12), connecting plates (8) are fixedly installed on both sides of the top of the bottom plate (11), and running wheels (10) are rotatably installed on the opposite surfaces of the connecting plates (8) on both sides, the running wheels (10) are adapted to the running guide rails (1), and two motors (9) for driving the running wheels (10) to rotate are installed on the sides of the connecting plates (8).

3. A right-angle change-of-direction cable-driven slide rail system according to claim 2, characterized in that: A limiting mechanism is provided on the side of the connecting plate (8), and the limiting mechanism comprises a hydraulic cylinder (15). The hydraulic cylinder (15) is fixed to the side wall of the connecting plate (8) via a mounting plate (14).

4. A right-angle change-of-direction cable-driven slide rail system according to claim 3, characterized in that: The base plate (11) is provided with a driving assembly for driving the electric box (12) and the cable control mechanism to rotate, the driving assembly comprising a second gear (17), the second gear (17) being rotatably mounted between the base plate (11) and the electric box (12) via a mounting shaft, a first gear (16) being rotatably mounted below the base plate (11), the first gear (16) being meshed with the second gear (17), and a third motor (13) for driving the first gear (16) to rotate is fixed on the base plate (11).

5. A right-angle change-of-direction cable-driven slide rail system according to claim 4, characterized in that: The connecting plate (8) is composed of a symmetrically arranged L-shaped plate member 1 (81) and a plate member 2 (82), wherein the plate member 2 (82) is fixed on the bottom plate (11), and the plate member 1 (81) is slidably arranged above the bottom plate (11). A mounting assembly is arranged between the plate member 1 (81) and the plate member 2 (82), and the mounting assembly includes a through slot (22) provided in the middle of the bottom of the plate member 1 (81), and a guide rod (18) is fixed on the side of the plate member 2 (82) at a position relative to the through slot (22), and the guide rod (18) slides through the through slot (22), and an active cavity is provided in the middle of the end of the guide rod (18) away from the plate member 2 (82), and a movable block (19) is slidably installed at the end of the movable cavity, and a spring 2 (26) is fixed inside the movable cavity for resetting the movable block (19), and limit plates (20) are rotatably installed at both ends of the movable block (19).

6. A right-angle change-of-direction cable-driven slide rail system according to claim 5, characterized in that: A mounting hole (23) is provided in the middle of the bottom of both ends of the plate member 1 (81), a bolt (24) is provided in the middle of the mounting hole (23), the end of the bolt (24) passes through the mounting hole (23) and is threadedly connected to a threaded hole provided on the side of the plate member 2 (82), a stepped hole is provided inside the mounting hole (23), and a spring 1 (25) is installed in the stepped hole.

7. A right-angle change-of-direction cable-driven slide rail system according to claim 6, characterized in that: Limiting grooves (28) are provided on the side walls of both sides of the guide rod (18), and limiting blocks (27) are provided on both sides of the through groove (22), and the limiting blocks (27) are slidably arranged in the limiting grooves (28).

8. A right-angle change-of-direction cable-driven slide rail system according to claim 7, characterized in that: A clamping groove (21) is provided on the outer wall of the plate member 1 (81), and the clamping groove (21) is adapted to fit the limiting plate (20).

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