A right-angle variable-direction cable-driven slide rail system

Abstract

This invention belongs to the field of robotics technology, specifically a right-angle directional cable-driven sliding rail system, including a walking guide rail and a robot body. The walking guide rail is fixedly installed on the truss of a building platform and is composed of multiple I-beams forming a nine-square grid structure. The robot body moves in a "U" shape within the eight squares outside the nine-square grid. A track-changing component is provided at the intersection of the walking guide rails, enabling the robot body to turn at right angles. The track-changing component includes a directional guide rail and a circular guide rail. This invention, through the design of the walking guide rail, robot body, and track-changing component, enables the robot body to achieve right-angle turns, facilitating directional movement within a large working area, improving work efficiency and operational safety. Furthermore, it increases work coverage and reduces the risk of accidents caused by personnel entering the site for extended periods of work.

Description

Technical Field

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[0001] The present invention belongs to the technical field of robots, and specifically relates to a right-angle variable-direction cable-driven slide rail system. Background Art

[0002] Currently, the moving methods of construction robots during operation are mostly wheel type, crawler type, leg type, composite type, and the execution end is moved to the designated working area by a manipulator. Before the operation of the track-type cable-driven flexible robot, steps such as position determination, cable contraction state, and determination of the magnitude and direction of cable force are involved. Among them, for position determination, it is common to use a group of four cable-driven robots to move directionally to the determined working position or fixedly install a group of cable-driven robots on a platform above the working area.

[0003] However, the first method requires the use of multiple groups of robots, and each robot needs to leave enough space during work to avoid collisions, which results in a limited coverage area of the robots during work, thus affecting work efficiency; the second method is suitable for small working areas. If the working area is large, the cable-driven robots need to move directionally on the working platform. Multiple groups of cable-driven robots need to be installed on the building platform for work, or rounded or arc-shaped I-beam tracks need to be set to enable the cable-driven robots to turn. When the cable-driven robots pass through the rounded or I-beam arc tracks, the angle position of the fuselage will change, and the cable outlet position and angle will change. Before the engineering operation, the robot parameters need to be readjusted, consuming a large amount of time and affecting the work process.

[0004] Therefore, the present invention provides a right-angle variable-direction cable-driven slide rail system. Summary of the Invention <00**********>In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A right-angle variable-direction cable-driven slide rail system described in the present invention includes 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 multiple I-beams, forming a track with a nine-square grid structure. The robot body moves in an "open" shape in the eight grids outside the nine-square grid. A rail-changing component is provided at the intersection position of the tracks of the walking guide rail, and the robot body can be turned at a right angle through the rail-changing component;

[0008] The track-changing assembly includes a variable guide rail and a ring guide rail. The intersection of the traveling guide rails has a reserved space to allow the variable guide rail to rotate. The variable guide rail is rotatably mounted on the truss. Fixed plates are symmetrically fixed at the top of both ends of the variable guide rail. Multiple sets of guide wheels are rotatably mounted on the top of the fixed plates. A ring guide rail is provided between the guide wheels. The ring guide rail is fixedly connected to the truss. A motor for driving the guide wheels to rotate is fixed on the fixed plate.

[0009] Preferably, the robot body includes an electrical box, a cable control mechanism is fixed to the side of the electrical box, a base plate is provided above the electrical box, connecting plates are fixedly installed on the top two sides of the base plate, and a walking wheel is rotatably installed on the opposite surface of the connecting plates on both sides. The walking wheel is adapted to the walking guide rail, and a second motor for driving the walking wheel to rotate is installed on the side of the connecting plate.

[0010] Preferably, the connecting plate is provided with a limiting mechanism on its side, the limiting mechanism including a hydraulic cylinder, the hydraulic cylinder being fixed to the side wall of the connecting plate by a mounting plate.

[0011] Preferably, the base plate is provided with a drive assembly for rotating the electrical box and the cable control mechanism. The drive assembly includes a second gear, which is rotatably mounted between the base plate and the electrical box via a mounting shaft. A first gear is rotatably mounted below the base plate. The first gear and the second gear mesh with each other. A third motor for driving the first gear to rotate is fixed on the base plate.

[0012] Preferably, the connecting plate is composed of two symmetrically arranged L-shaped plates, plate one and plate two. Plate two is fixed to the base plate, and plate one is slidably disposed above the base plate. An installation assembly is provided between plate one and plate two. The installation assembly includes a through groove formed in the middle of the bottom of plate one. A guide rod is fixed on the side of plate two at a position opposite to the through groove. The guide rod slides through the through groove. A movable cavity is formed in the middle of the end of the guide rod away from plate two. A movable block is slidably installed at the end of the movable cavity. A spring two is fixed inside the movable cavity to reset the movable block. Limit plates are rotatably installed at both ends of the movable block.

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

[0014] Preferably, the guide rod has a limiting groove on both sides of its sidewalls, and a limiting block is provided on both sides of the groove, the limiting block being slidably disposed in the limiting groove.

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

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

[0017] 1. The right-angle reversing cable-driven slide rail system of the present invention, by setting up a walking guide rail, a robot body, a reversing component, etc., when the robot body needs to make a right-angle turn while moving along the walking guide rail, the robot body moves to the reversing guide rail located at the intersection of the guide rails. Then, the motor is controlled to rotate, and the motor drives the guide wheel to rotate, so that the guide wheel rolls relative to the side wall of the annular guide rail. Then, through the fixing plate, the reversing guide rail rotates 90 degrees, thereby driving the robot body, which is stationary on the reversing guide rail, to rotate 90 degrees synchronously. The robot body realizes a right-angle turn, which facilitates the robot body to change direction and move within a large working area, improves work efficiency and operational safety. In addition, after the robot body realizes the reversing movement, the work coverage is improved, and the safety accidents caused by personnel entering the site for long-term work are reduced.

[0018] 2. The right-angle reversing cable-driven slide rail system of the present invention uses a drive component to drive the cable control mechanism to rotate in the opposite direction to the reversing track. After receiving the reversing signal, motor one drives the reversing guide rail to rotate counterclockwise, and motor three drives gear one and gear two to rotate in opposite directions at the same speed, so that the cable control mechanism is absolutely stationary in space, ensuring that the cable output direction remains unchanged, thereby reducing the time for adjusting and debugging the robot's cable output parameters and further improving work efficiency. Attached Figure Description

[0019] The invention will now be further described with reference to the accompanying drawings.

[0020] Figure 1 This is a perspective view of the present invention;

[0021] Figure 2 This is a schematic diagram of the installation position of the reversing track of the present invention;

[0022] Figure 3 This is a schematic diagram of the reversing component of the present invention;

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

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

[0025] Figure 6 This is a schematic diagram of the structure of the driving component of the present invention;

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

[0027] Figure 8 This is a schematic diagram of the installation component of the present invention;

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

[0029] Figure 10 is Figure 9 a schematic enlarged view of the structure at position A in

[0030] Figure 11 a schematic diagram of the limit block and the limit groove in the present invention.

[0031] In the figure: 1, walking guide rail; 2, robot body; 3, steering guide rail; 4, annular guide rail; 5, fixed plate; 6, guide wheel; 7, motor 1; 8, connecting plate; 81, plate member 1; 82, plate member 2; 9, motor 2; 10, walking wheel; 11, bottom plate; 12, electrical 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, card slot; 22, through slot; 23, mounting hole; 24, bolt; 25, spring 1; 26, spring 2; 27, limit block; 28, limit groove. Specific Embodiments

[0032] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0033] Embodiment 1: As Figures 1 to 10 shown, a right-angle steering cable-driven slide rail system described in an embodiment of the present invention includes 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 multiple I-beams to form a track with a nine-square grid structure. The robot body 2 moves in an "open" shape in the eight grids outside the nine-square grid. A rail-changing component is provided at the intersection position of the tracks of the walking guide rail 1, and the robot body 2 is turned at a right angle through the rail-changing component; the robot body 2 is installed on the truss above the working surface, reducing contact with the working surface, thereby reducing damage to the working surface;

[0035] The rail-changing component includes a steering guide rail 3 and an annular guide rail 4. A rotation space for allowing the steering guide rail 3 to rotate is reserved at the intersection position of the walking guide rail 1. The steering guide rail 3 is rotatably installed on the truss. Symmetrically fixed at the top of both ends of the steering guide rail 3 are fixed plates 5. Multiple groups of guide wheels 6 are rotatably installed 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 1 7 for driving the guide wheels 6 to rotate is fixed on the fixed plate 5;

[0036] During operation, the robot body 2 moves linearly along the walking guide rail 1. When a right-angle turn is required during movement, the robot body 2 moves to the deflection guide rail 3 located at the intersection of the guide rails. Then, the control motor 7 rotates, and the motor 7 drives the guide wheel 6 to rotate, causing the guide wheel 6 to roll relative to the side wall of the annular guide rail 4. This, in turn, drives the deflection guide rail 3 to rotate 90 degrees through the fixing plate 5, thereby causing the robot body 2, which is stationary on the deflection guide rail 3, to rotate 90 degrees synchronously. This allows the robot body 2 to switch its forward direction to another guide rail perpendicular to the original walking guide rail 1, enabling the robot body 2 to make a right-angle turn. This facilitates the robot body 2 to change direction and move within a large working area, improving work efficiency and operational safety. In addition, after the robot body 2 changes direction and moves, the work coverage is increased, reducing the need for personnel to enter the site for long-term work, which could easily lead to safety accidents.

[0037] The robot body (2) includes an electrical box 12, a cable control mechanism is fixed on the side of the electrical box 12, a base plate 11 is provided above the electrical box 12, and connecting plates 8 are fixedly installed on the top two sides of the base plate 11. 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. A second motor 9 for driving the walking wheels 10 to rotate is installed on the side of the connecting plate 8. During operation, the second motor 9 drives the walking wheels 10 to move along the walking guide rail 1, thereby driving the cable control mechanism to move synchronously. By setting up 4 sets of robot bodies 2 carrying the cable control mechanism to operate synchronously on the nine-grid walking guide rail 1, the 4 sets of robot bodies 2 can move simultaneously, at the same speed, and in the same direction through wired communication. During the direction change of the robot body 2, a circular track is used to achieve a 90° track change, which facilitates the cable-driven robot to change direction and move in a large working area, thereby improving work efficiency.

[0038] The connecting plate 8 is provided with a limiting mechanism on its side. The limiting mechanism includes a hydraulic cylinder 15, which is fixed to the side wall of the connecting plate 8 by a mounting plate 14. During operation, when the robot body 2 moves onto the guide rail 3, the telescopic end of the hydraulic cylinder 15 is extended and pressed against the side wall of the guide rail 3 to restrict the robot body 2 onto the guide rail 3, making it more stable during turning and preventing it from sliding off the guide rail 3.

[0039] The base plate 11 is equipped with a drive assembly for rotating the electrical box 12 and the cable control mechanism. The drive assembly includes a second gear 17, which is rotatably mounted between the base plate 11 and the electrical box 12 via a mounting shaft. A first gear 16 is rotatably mounted below the base plate 11, and the first gear 16 meshes with the second gear 17. A third motor 13 for driving the first gear 16 is fixed on the base plate 11. During operation, after receiving a track change signal, the first motor 7 drives the guide rail 3 to rotate counterclockwise, and the third motor 13 drives the first gear 16 and the second gear 17 to rotate in opposite directions at the same speed. The diameter of the first gear 16 is smaller than that of the second gear 17 to achieve differential motion, so that the cable control mechanism is absolutely stationary in space, ensuring that the cable output direction remains unchanged, thereby reducing the adjustment and debugging time of the cable output parameters of the robot body 2 and further improving work efficiency.

[0040] The connecting plate 8 is composed of two symmetrically arranged L-shaped plates 81 and 82. The second plate 82 is fixed on the base plate 11, and the first plate 81 is slidably disposed above the base plate 11. An installation assembly is provided between the first plate 81 and the second plate 82. The installation assembly includes a through groove 22 formed in the middle of the bottom of the first plate 81. A guide rod 18 is fixed on the side of the second plate 82 at a position opposite to the through groove 22. The guide rod 18 slides through the through groove 22. A movable cavity is formed in the middle of the end of the guide rod 18 away from the second plate 82. A movable block 19 is slidably installed at the end of the movable cavity. A second spring 26 is fixed inside the movable cavity to reset the movable block 19. Limit plates 20 are rotatably installed at both ends of the movable block 19.

[0041] During operation, when the robot body 2 needs to be installed onto the walking guide rail 1, the limiting plate 20 is pulled outward. At the same time, the limiting plate 20 stretches the second spring 26 through the movable block 19, and the end of the limiting plate 20 separates from the first plate 81. At this time, the first plate 81 can be pulled away from the second plate 82 to increase the distance between the two walking wheels 10. Then, the two walking wheels 10 are moved to the corresponding positions on both sides of the walking guide rail 1. Then, the limiting plate 20 is rotated in the opposite direction, and the second spring 26 pushes the limiting plate 20 to press against the side wall of the first plate 81, so that the two walking wheels 10 can be stably attached to both sides of the walking guide rail 1. This makes it easy to quickly install the robot body 2 onto the walking guide rail 1. It also makes it easy to disassemble the robot body 2. This enables quick assembly and disassembly of the robot body 2, improves assembly and disassembly efficiency, and facilitates replacement and maintenance of the robot body 2.

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

[0043] The outer wall of the plate 81 is provided with a slot 21, which is adapted to the limiting plate 20. During operation, when the end of the limiting plate 20 abuts in the slot 21 on the outer wall of the plate 81, it can limit the range of movement of the limiting plate 20 and prevent the limiting plate 20 from loosening 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 connected to the walking guide rail 1.

[0044] Example 2: Figure 11 As shown in the comparative embodiment one, another embodiment of the present invention is as follows: a limiting groove 28 is provided on both sides of the guide rod 18, and a limiting block 27 is provided on both sides of the through groove 22. The limiting block 27 is slidably disposed in the limiting groove 28. During operation, by setting the limiting groove 28 and the limiting block 27, the movement direction of the plate 81 is restricted, so that the plate 81 can only move in a straight line along the length direction of the guide rod 18, which makes the installation of the plate 81 more stable.

[0045] Working principle: Motor 2 (9) drives the walking wheel 10 to move along the walking guide rail 1, which in turn drives the cable control mechanism to move synchronously. 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 deflecting guide rail 3 located at the intersection of the guide rails. Then, Motor 1 (7) is controlled to rotate, and Motor 1 (7) drives the guide wheel 6 to rotate, causing the guide wheel 6 to roll relative to the side wall of the annular guide rail 4. This, in turn, drives the deflecting guide rail 3 to rotate 90 degrees through the fixing plate 5, thereby causing the robot body 2, which is stationary on the deflecting guide rail 3, to rotate 90 degrees synchronously. This allows the forward direction of the robot body 2 to be switched to another direction perpendicular to the original walking guide rail 1. On the guide rail, the robot body 2 achieves right-angle turns. When the robot body 2 moves onto the variable guide rail 3, the telescopic end of the control hydraulic cylinder 15 extends and presses against the side wall of the variable guide rail 3 to restrict the robot body 2 onto the variable guide rail 3, making it more stable during the turning process and preventing slippage that could cause it to fall off the variable guide rail 3. After receiving the track change signal, motor 1 7 drives the variable guide rail 3 to rotate counterclockwise, and motor 3 13 drives gear 1 16 and gear 2 17 to rotate in opposite directions at the same speed, so that the cable control mechanism is absolutely stationary in space, ensuring that the cable output direction remains unchanged, thereby reducing the time for adjusting and debugging the cable output parameters of the robot body 2 and further improving work efficiency.

[0046] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on the perspective of the observer, 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 this invention, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0048] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A right-angle reversible cable-driven slide rail system, characterized in that: It includes a walking guide rail (1) and a robot body (2); The walking guide rail (1) is fixedly installed on the truss of the building construction platform. The walking guide rail (1) is composed of multiple I-beams to form a track with a nine-square grid structure. The robot body (2) moves in an "open" shape in the eight grids outside the nine-square grid. A track-changing component is provided at the intersection position of the tracks of the walking guide rail (1), and the robot body (2) is turned at a right angle through the track-changing component; The track-changing component includes a direction-changing guide rail (3) and an annular guide rail (4). A rotation vacancy allowing the direction-changing guide rail (3) to rotate is reserved at the intersection position of the walking guide rail (1). The direction-changing guide rail (3) is rotatably installed on the truss. Fixed symmetrically at the top of both ends of the direction-changing guide rail (3) are fixing plates (5). Multiple groups of guide wheels (6) are rotatably installed on the top of the fixing 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 one (7) for driving the guide wheels (6) to rotate is fixed on the fixing plate (5); The robot body (2) includes an electric box (12). A cable control mechanism is fixed to the side of the electric box (12). A bottom plate (11) is provided above the electric box (12). Connecting plates (8) are fixedly installed on both sides of the top of the bottom plate (11). Walking wheels (10) are rotatably installed on the opposite surfaces of the two connecting plates (8). The walking wheels (10) are adapted to the walking guide rail (1). A motor two (9) for driving the walking wheels (10) to rotate is installed on the side of the connecting plate (8); A limiting mechanism is provided on the side of the connecting plate (8). The limiting mechanism includes a hydraulic cylinder (15). The hydraulic cylinder (15) is fixed to the side wall of the connecting plate (8) through a mounting plate (14); A driving component for driving the electric box (12) and the cable control mechanism to rotate is provided on the bottom plate (11). The driving component includes a gear two (17). The gear two (17) is rotatably installed between the bottom plate (11) and the electric box (12) through a mounting shaft. A gear one (16) is rotatably installed below the bottom plate (11). The gear one (16) and the gear two (17) are meshed with each other. A motor three (13) for driving the gear one (16) to rotate is fixed on the bottom plate (11).

2. The right-angle reversing cable-driven slide rail system according to claim 1, characterized in that: The connecting plate (8) is composed of two symmetrically arranged L-shaped plates, one (81) and two (82). The two (82) is fixed on the base plate (11). The one (81) is slidably arranged above the base plate (11). An installation assembly is provided between the one (81) and the two (82). The installation assembly includes a through groove (22) opened in the middle of the bottom of the one (81). A guide rod (18) is fixed on the side of the two (82) at a position opposite to the through groove (22). The guide rod (18) slides through the through groove (22). A movable cavity is opened in the middle of the end of the guide rod (18) away from the two (82). A movable block (19) is slidably installed at the end of the movable cavity. A spring (26) is fixed inside the movable cavity to reset the movable block (19). Limit plates (20) are rotatably installed at both ends of the movable block (19).

3. A right-angle reversing cable-driven slide rail system according to claim 2, characterized in that: The bottom of both ends of the first plate (81) is provided with mounting holes (23), and a bolt (24) is provided in the middle of the mounting holes (23). The end of the bolt (24) passes through the mounting holes (23) and is threaded into the threaded hole on the side of the second plate (82). The mounting holes (23) are provided with stepped holes, and a spring (25) is installed in the stepped holes.

4. A right-angle reversing cable-driven slide rail system according to claim 3, characterized in that: The guide rod (18) has a limiting groove (28) on both sides of its sidewalls, and a limiting block (27) is provided on both sides of the through groove (22). The limiting block (27) is slidably disposed in the limiting groove (28).

5. A right-angle reversing cable-driven slide rail system according to claim 4, characterized in that: A slot (21) is provided on the outer wall of the plate (81), and the slot (21) is adapted to the limiting plate (20).

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