Multi-machine-table multi-direction air orbit robot and using method thereof

Abstract

The invention discloses a multi-machine multi-direction air track robot and a using method thereof, and relates to the field of track robots. The rail robot comprises a walking rail, a walking mechanism, a lifting mechanism, a translation mechanism and a clamping mechanism, the walking mechanism is used for driving articles to move along the walking rail, the lifting mechanism is used for taking and placing the articles in the vertical direction, and the translation mechanism is used for conducting movement adjustment in the horizontal direction; the clamping mechanism is used for clamping and fixing the articles. According to the rail robot, a walking rail is arranged in the air, a walking motor drives a first transmission gear to rotate, a connecting plate and the first transmission gear move along the walking rail through the meshing effect of the first transmission gear and a first transmission rack, and the problem that the rail occupies space is solved; and long-stroke lifting is achieved through the first-stage rail, the second-stage rail and the transmission chain, and material taking and placing at different heights can be achieved by stopping at any position.

Description

Technical Field

[0001] The present invention relates to the field of track robots, in particular to a multi-platform multi-directional aerial track robot and a use method thereof. Background Art

[0002] A track robot is a robot system that can move autonomously and perform tasks on a specific track. With the continuous development of computer technology and automation technology, track robots are gradually moving from laboratories to practical applications. At present, track robots have been widely used in many industries and are constantly developing towards higher intelligence and autonomy. They are used in industrial automation, logistics and transportation, smart homes, medical services and other fields.

[0003] Common rail robots mostly use ground rail systems. The ground rail method occupies ground space. When there are other objects on the ground, the ground rail method cannot be used. It is greatly affected by space factors. In addition, the robot's gripping manipulator can only retract in one direction to grip materials, and the walking distance is short. It can only handle a small amount of work. In addition, the gripping manipulator currently has a fixed upward and downward telescopic stroke and can only grip materials at the same height. It is inflexible and has poor applicability. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a multi-machine multi-directional aerial track robot and a method of using the same, which solves the problems that the current ground track system occupies a large space, is only docked on one side and has few docking stations, and cannot dock stations at different heights.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-machine multi-directional aerial track robot, including a walking track;

[0006] A track support column, the top end of which is fixedly mounted to the lower surface of the running track by bolts;

[0007] A fixed cross bar, one end of which is fixedly mounted on the track support column;

[0008] It is characterized in that it also includes a walking mechanism, a lifting mechanism, a translation mechanism and a clamping mechanism, wherein the walking mechanism is arranged between the walking tracks and is used to drive the objects to move along the walking tracks;

[0009] The lifting mechanism is arranged on the walking mechanism, and is used to take and place objects in the vertical direction;

[0010] The translation mechanism is arranged at the bottom end of the lifting mechanism, and is used for movement and adjustment in the horizontal direction;

[0011] The clamping mechanism is arranged on the translation mechanism and is used to clamp and fix the objects.

[0012] Preferably, the walking mechanism comprises:

[0013] A connecting plate, wherein the connecting plate is arranged between the walking rails;

[0014] A travel motor, wherein the travel motor is fixedly mounted on a side of a machine base and a back side of a connecting plate;

[0015] A first transmission gear, the first transmission gear is transmission-connected to an output end of the travel motor;

[0016] A first transmission rack, wherein the first transmission rack is fixedly connected to one side of the travel track, and the first transmission rack is meshedly connected to the first transmission gear;

[0017] The first track slider is fixedly connected to one end of the connecting plate, and the first track slider is slidably and interlacedly connected to the traveling track through a slot.

[0018] Preferably, the lifting mechanism comprises:

[0019] A lifting motor, the lifting motor is fixedly installed through a machine base and the other side of the back of the connecting plate;

[0020] A second transmission gear, the second transmission gear is transmission-connected to an output end of the lifting motor;

[0021] The second transmission rack is arranged on one side of the second transmission gear, and the second transmission rack is meshed and connected with the second transmission gear.

[0022] Preferably, the lifting mechanism further comprises:

[0023] A primary track, wherein the primary track is fixedly connected to one side of the second transmission rack;

[0024] A secondary track, the secondary track is arranged on one side of the primary track;

[0025] A transmission chain is arranged between the primary track and the secondary track, and the primary track and the secondary track are connected by the transmission chain.

[0026] Preferably, the translation mechanism comprises:

[0027] A fixing plate, the fixing plate being fixedly mounted to the bottom end of the secondary track;

[0028] A telescopic motor, wherein the telescopic motor is fixedly mounted via a machine base and an upper surface of a fixing plate;

[0029] A third transmission gear, the third transmission gear is transmission-connected to the output end of the telescopic motor, and the third transmission gear is arranged in a triangular shape;

[0030] The third transmission rack is arranged below the fixed plate, and the third transmission rack is meshed and connected with the third transmission gear.

[0031] Preferably, the translation mechanism further comprises:

[0032] A synchronous wheel, the synchronous wheel is arranged at one end below the fixed plate, and the synchronous wheels are connected by a rotating shaft;

[0033] A synchronous belt, which is arranged on both sides below the fixed plate and connected to a synchronous wheel;

[0034] A mounting plate, one side of the upper surface of the mounting plate is fixedly mounted to one end of the synchronous belt by bolts.

[0035] Preferably, the clamping mechanism comprises:

[0036] A clamping cylinder, wherein the clamping cylinder is arranged on the lower surface of the mounting plate;

[0037] A linear track fixedly connected to the lower surface of the mounting plate;

[0038] A second track slider, the second track slider is slidably connected to the linear track through a slot;

[0039] A clamping plate, which is arranged below the mounting plate and is drivingly connected to the output end of the clamping cylinder;

[0040] A material sensor is fixedly mounted on the bottom of the clamping plate.

[0041] Preferably, the clamping mechanism further comprises:

[0042] A fixed block, the fixed block is fixedly connected to the lower surface of the mounting plate, and the lower surface of the fixed block is provided with a movable groove;

[0043] A movable block, one end of which is slidably and interlacedly connected with the inner cavity of the movable groove;

[0044] A screw rod, the screw rod being arranged in the inner cavity of the fixed block and being threadedly connected with one end of the movable block;

[0045] A connecting gear, wherein the connecting gear is fixedly connected to one end of the screw rod;

[0046] A rack plate, one end of which is fixedly connected to the second track slider, and the other end of which is meshingly connected to the connecting gear.

[0047] Preferably, the clamping mechanism further comprises:

[0048] A sleeve, one end of which is fixedly connected to the outer wall of the movable block;

[0049] A movable rod, one end of which is slidably and interlacedly connected with the inner cavity of the sleeve;

[0050] A compression spring, wherein the compression spring is arranged in the inner cavity of the sleeve, and one end of the compression spring is pressed against one end of the movable rod;

[0051] A limit block is fixedly connected to the other end of the movable rod.

[0052] A method for using a multi-machine multi-directional aerial track robot comprises the following steps:

[0053] First, the second transmission gear is driven to rotate by the operation of the lifting motor, and the meshing action of the second transmission gear and the second transmission rack is used to drive the primary track to move vertically. The primary track, the secondary track and the transmission chain are used to realize long-stroke lifting and lowering, and the fixed plate and the clamping plate are driven to move downward to the upper position of the article. Then, the third transmission gear is driven to rotate by the telescopic motor, and the meshing action of the third transmission gear and the third transmission rack is used to realize the left and right extension of the first stage, and the synchronous belt and the synchronous wheel are driven to realize the second-stage telescopic. The long-stroke telescopic is realized through the short structure, and the mounting plate and the clamping plate are driven to move horizontally, so that the clamping plate is set at the outer position of the article.

[0054] Then, through the operation of the clamping cylinder, the two clamping plates are driven to move along the linear track to squeeze and clamp the front and back sides of the object. With the movement of the clamping plate and the second track slider, the rack plate is driven to move together. The meshing action of the rack plate and the connecting gear is used to drive the screw to rotate, so that the movable block moves horizontally on the screw, and the movable rod and the limit block are driven to move toward the two sides of the object, so that the limit block squeezes the two sides of the object. The elastic action of the compression spring is used to push the movable rod and the limit block to limit the two sides of the material, thereby ensuring the stable grasping of the object.

[0055] Then, the travel motor is operated to drive the first transmission gear to rotate, and the meshing action between the first transmission gear and the first transmission rack is utilized to make the first transmission gear move along the first transmission rack, thereby driving the first track sliders at both ends of the connecting plate to move along the travel track, thereby driving the fixed plate, the mounting plate and the clamping plate to move together, thereby realizing the transportation of items.

[0056] The present invention discloses a multi-machine multi-directional aerial track robot, which has the following beneficial effects:

[0057] Through the walking track set in the air, the walking motor drives the first transmission gear to rotate, and the meshing action of the first transmission gear and the first transmission rack is utilized to make the connecting plate and the first transmission gear move along the walking track, so as to solve the problem of track occupying space. The number of walking guide rails can be increased according to the number of workstations, so as to realize long-distance material handling, and the scalability is good. The primary track, the secondary track and the transmission chain are utilized to realize long-stroke lifting and lowering, so that it is possible to stop at any position to pick up and place materials at different heights. At the same time, the extension stroke is controlled by the telescopic motor, so as to meet the use requirements of different strokes. The first stage is realized by the third transmission gear and the third transmission rack to realize left and right extension, and drives the synchronous belt and the synchronous wheel to realize the second stage extension. The short structure can be used to realize long-stroke extension and retraction, and the range of picking and placing materials is increased to meet the use of different fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0060] Figure 2 This is a structural schematic diagram of the first track slider of the present invention;

[0061] Figure 3 This is a schematic diagram of the structure of the connecting plate of the present invention;

[0062] Figure 4 This is a schematic diagram of the back structure of the connecting plate of the present invention;

[0063] Figure 5 It is a structural schematic diagram of the synchronous belt of the present invention;

[0064] Figure 6 This is a schematic diagram of the structure of the clamping plate of the present invention;

[0065] Figure 7 It is a structural schematic diagram of the movable block of the present invention;

[0066] Figure 8 It is a schematic diagram of the top cross-sectional structure of the fixing block of the present invention.

[0067] In the figure: 1, walking track; 2, track support column; 3, fixed cross bar; 4, walking mechanism; 41, connecting plate; 42, walking motor; 43, first transmission gear; 44, first transmission rack; 45, first track slider; 5, lifting mechanism; 51, lifting motor; 52, second transmission gear; 53, second transmission rack; 54, primary track; 55, secondary track; 56, transmission chain; 6, translation mechanism; 61, fixed plate; 62, telescopic motor ; 63. The third transmission gear; 64. The third transmission rack; 65. The synchronous wheel; 66. The synchronous belt; 67. The mounting plate; 7. The clamping mechanism; 71. The clamping cylinder; 72. The linear track; 73. The second track slider; 74. The clamping plate; 75. The material sensor; 76. The fixed block; 77. The movable block; 78. The screw; 79. The connecting gear; 710. The rack plate; 711. The sleeve; 712. The movable rod; 713. The compression spring; 714. The limit block. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] The embodiment of the present application provides a multi-machine multi-directional aerial track robot, which solves the problems that the current ground track system occupies a large space, is only single-sided docking and has few docking stations, and cannot dock stations at different heights. The walking track 1 set in the air is realized, and the walking motor 42 drives the first transmission gear 43 to rotate. The meshing action of the first transmission gear 43 and the first transmission rack 44 is utilized to make the connecting plate 41 and the first transmission gear 43 move along the walking track 1, and the primary track 54, the secondary track 55 and the transmission chain 56 are utilized to realize long-stroke lifting and lowering, so that it can stop at any position to pick up and place materials at different heights.

[0070] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0071] The embodiment of the invention discloses a multi-platform multi-directional aerial track robot.

[0072] According to the attached Figure 1-8As shown, it includes a walking track 1, a track support column 2, a fixed cross bar 3, a walking mechanism 4, a lifting mechanism 5, a translation mechanism 6 and a clamping mechanism 7. The two walking tracks 1 are arranged in parallel and are formed by splicing a plurality of short tracks, which can be spliced ​​as needed. The walking track 1 is used for moving the walking mechanism 4. The top of the track support column 2 is fixedly installed with the lower surface of the walking track 1 by bolts. A plurality of track support columns 2 are arranged at intervals and are used to install and support the walking track 1. The use of an aerial track method can solve the problem of insufficient ground space; one end of the fixed cross bar 3 is fixedly installed with the track support column 2, and the fixed cross bar 3 is used to connect the two track support columns 2 to improve the stability of the walking track 1 and the track support column 2 The walking mechanism 4 is arranged between the walking rails 1, and is used to drive the objects to move along the walking rails 1, and the objects are moved by the walking mechanism 4; the lifting mechanism 5 is arranged on the walking mechanism 4, and is used to take and place the objects in the vertical direction, and the lifting mechanism 5 is used to perform two-level lifting in the vertical direction, which is convenient for taking and placing objects of different heights; the translation mechanism 6 is arranged at the bottom end of the lifting mechanism 5, and is used to move and adjust in the horizontal direction, and the horizontal position of the clamping mechanism 7 is adjusted by the translation mechanism 6, which is convenient for taking and placing the objects; the clamping mechanism 7 is arranged on the translation mechanism 6, and is used to clamp and fix the objects, and the clamping mechanism 7 is used to clamp and fix the objects, so as to drive the objects to move.

[0073] The walking mechanism 4 includes a connecting plate 41, which is arranged between the walking rails 1. The connecting plate 41 is used to install the lifting mechanism 5, the translation mechanism 6 and the clamping mechanism 7, and move between the two walking rails 1; a walking motor 42, which is fixedly installed on one side of the back of the connecting plate 41 through a base, and the walking motor 42 is a servo motor, which is electrically connected to an external power supply through an external first switch, and is used to drive the first transmission gear 43 to rotate; a first transmission gear 43, which is transmission-connected to the output end of the walking motor 42, and the first transmission gear 43 is used to cooperate with the first transmission rack 44 to move; the first transmission rack 44 The first transmission rack 44 is fixedly connected to one side of the walking track 1, and the first transmission rack 44 is meshed with the first transmission gear 43. The first transmission rack 44 is arranged on the inner side of one of the walking tracks 1. The meshing action of the first transmission gear 43 and the first transmission rack 44 makes the connecting plate 41 and the first transmission gear 43 move along the walking track 1; the first track slider 45, the first track slider 45 is fixedly connected to one end of the connecting plate 41, the first track slider 45 is slidably and interlacedly connected with the walking track 1 through the card slot, and the two ends of the connecting plate 41 are slidably connected with the walking track 1 through the first track slider 45 to ensure the stable movement of the connecting plate 41.

[0074] The lifting mechanism 5 includes a lifting motor 51, which is fixedly installed on the other side of the back of the connecting plate 41 through the base. The lifting motor 51 is a servo motor, which is electrically connected to the external power supply through an external second switch, and the lifting motor 51 is used to drive the second transmission gear 52 to rotate; the second transmission gear 52 is transmission-connected to the output end of the lifting motor 51, and the second transmission gear 52 cooperates with the second transmission rack 53 for operation; the second transmission rack 53 is arranged on one side of the second transmission gear 52, and the second transmission rack 53 is meshed with the second transmission gear 52, and the second transmission rack 53 is used to drive the second transmission gear 52 to rotate. The meshing action with the second transmission gear 52 drives the second transmission rack 53 to move in the vertical direction; the primary track 54, the primary track 54 is fixedly connected to one side of the second transmission rack 53, and the primary track 54 moves with the second transmission rack 53; the secondary track 55, the secondary track 55 is arranged on one side of the primary track 54; the transmission chain 56, the transmission chain 56 is arranged between the primary track 54 and the secondary track 55, and the primary track 54 and the secondary track 55 are connected by the transmission chain 56, and the primary track 54, the secondary track 55 and the transmission chain 56 are used to realize long-stroke lifting and lowering, which is convenient for grabbing objects.

[0075] The translation mechanism 6 includes a fixed plate 61, which is fixedly installed on the bottom end of the secondary track 55, and the fixed plate 61 is used to fix the mounting plate 67, and moves in the vertical direction with the secondary track 55; a telescopic motor 62, which is fixedly installed on the upper surface of the fixed plate 61 through a machine base, and the telescopic motor 62 is a servo motor, which is electrically connected to an external power supply through an external third switch, and is used to drive one of the third transmission gears 63 to rotate; a third transmission gear 63, which is transmission-connected to the output end of the telescopic motor 62, and a plurality of third transmission gears 63 are arranged in a triangular shape, and the two lower third transmission gears 63 are meshed and connected with the upper third transmission gear 63, so that the plurality of third transmission gears 63 rotate together; a third transmission rack 64, which is arranged at a lower position of the fixed plate 61, and the third transmission rack 64 is meshed and connected with the third transmission gear 63, and the third transmission rack 64 is used to connect the mounting plate 67; a synchronous wheel 65, which is arranged at the lower part of the fixed plate 61 At one end of the square, the synchronous wheels 65 are connected by a rotating shaft, and the synchronous wheels 65 rotate with the movement of the third transmission rack 64 to drive the synchronous belt 66 to move; the synchronous belt 66, the synchronous belt 66 is arranged on both sides below the fixed plate 61, and the synchronous belt 66 is connected to the synchronous wheel 65. With the rotation of the synchronous wheel 65, one end of the synchronous belt 66 drives the mounting plate 67 to move; the mounting plate 67, one side of the upper surface of the mounting plate 67 is fixedly installed with one end of the synchronous belt 66 by bolts, and the mounting plate 67 is used to install the clamping cylinder 71 and the clamping plate 74, and the telescopic motor 62 is rotated forward or reversely to achieve left or right extension. The extension stroke is controlled by using the telescopic motor 62 to meet the use requirements of different strokes. The first stage is to achieve left and right extension through the third transmission gear 63 and the third transmission rack 64, and drive the synchronous belt 66 and the synchronous wheel 65 to achieve the second stage extension, so that the long stroke extension can be achieved through the short structure, and the range of picking and placing materials can be improved to meet the use of different fields.

[0076] The clamping mechanism 7 includes a clamping cylinder 71, which is arranged on the lower surface of the mounting plate 67. The clamping cylinder 71 is electrically connected to an external power supply through an external fourth switch. Two clamping cylinders 71 are symmetrically arranged on both sides of the lower surface of the mounting plate 67 to drive the clamping plate 74 to move; a linear rail 72 is fixedly connected to the lower surface of the mounting plate 67; a second rail slider 73, which is slidably connected to the linear rail 72 through a slot, and the clamping plate 74 is slidably connected to the linear rail 72 through the second rail slider 73, so that the clamping plate 74 moves along the linear rail 72; a clamping plate 74, which is arranged below the mounting plate 67, clamps The plate 74 is connected to the output end of the clamping cylinder 71 by driving, and the two clamping plates 74 are used to squeeze the front and back of the object; the material sensor 75 is fixedly installed on the bottom of the clamping plate 74, and the material sensor 75 is used to detect whether there is an object between the two clamping plates 74; the fixed block 76 is fixedly connected to the lower surface of the mounting plate 67, and the lower surface of the fixed block 76 is provided with a movable groove. The two fixed blocks 76 are arranged on both sides of the lower surface of the mounting plate 67 for installing the movable block 77; the movable block 77, one end of the movable block 77 is connected with the inner cavity of the movable groove by sliding and interlacing, and the movable block 77 is arranged in a long strip shape; the screw 78, the screw 78 is arranged In the inner cavity of the fixed block 76, the screw rod 78 is threadedly connected with one end of the movable block 77, and the two ends of the screw rod 78 are rotatably connected with the inner wall of the fixed block 76. By rotating the screw rod 78, the movable block 77 is driven to move horizontally; the connecting gear 79 is fixedly connected with one end of the screw rod 78, and the connecting gear 79 is used to drive the screw 78 to rotate; the rack plate 710, one end of the rack plate 710 is fixedly connected with the second track slider 73, and the other end of the rack plate 710 is meshed with the connecting gear 79. The rack plate 710 moves with the clamping plate 74 and the second track slider 73. By utilizing the meshing action of the rack plate 710 and the connecting gear 79, the rack plate 710 moves with the rack plate 74 and the second track slider 73. 10 moves, driving the connecting gear 79 and the screw 78 to rotate; a sleeve 711, one end of the sleeve 711 is fixedly connected to the outer wall of the movable block 77, and the sleeve 711 moves with the movable rod 712, and is used to install the movable rod 712; the movable rod 712, one end of the movable rod 712 is slidably connected with the inner cavity of the sleeve 711, and one end of the movable rod 712 is T-shaped, sliding in the inner cavity of the sleeve 711 to adjust the position of the limit block 714; a compression spring 713, the compression spring 713 is arranged in the inner cavity of the sleeve 711, and one end of the compression spring 713 is squeezed with one end of the movable rod 712, and the compression spring 713 is used to push the movable rod 712;The limit block 714 is fixedly connected to the other end of the movable rod 712. When the limit block 714 is pressed against the side of the object, one end of the movable rod 712 slides toward the inner cavity of the sleeve 711, and the compression spring 713 is squeezed and deformed. The elastic effect of the compression spring 713 is used to push the movable rod 712 and the limit block 714 to limit the two sides of the object. The clamping cylinder 71 is extended or retracted to clamp or put down the material. The material sensor 75 can detect whether there is material on the clamping mechanism in real time. Both ends of the bottom of the clamping plate 74 are provided with safety protection devices. In the event of an unexpected accident, this mechanism can be prevented from accidentally injuring people or accidentally hitting other objects, which plays a protective role in safety. ;

[0077] A method for using a multi-machine multi-directional aerial track robot comprises the following steps:

[0078] First, the second transmission gear 52 is driven to rotate by the operation of the lifting motor 51, and the meshing action of the second transmission gear 52 and the second transmission rack 53 is used to drive the primary track 54 to move vertically. The primary track 54, the secondary track 55 and the transmission chain 56 are used to realize long-stroke lifting and lowering, and the fixing plate 61 and the clamping plate 74 are driven to move downward to the upper position of the article. Then, the third transmission gear 63 is driven to rotate by the telescopic motor 62, and the meshing action of the third transmission gear 63 and the third transmission rack 64 is used to realize the left and right extension of the first stage, and the synchronous belt 66 and the synchronous wheel 65 are driven to realize the second stage extension. The long-stroke extension and retraction are realized by the short structure, and the mounting plate 67 and the clamping plate 74 are driven to move horizontally, so that the clamping plate 74 is set at the outer position of the article.

[0079] Then, through the operation of the clamping cylinder 71, the two clamping plates 74 are driven to move along the linear track 72 to squeeze and clamp the front and back sides of the article. With the movement of the clamping plate 74 and the second track slider 73, the rack plate 710 is driven to move together. The meshing action of the rack plate 710 and the connecting gear 79 is used to drive the screw rod 78 to rotate, so that the movable block 77 moves horizontally on the screw rod 78, and the movable rod 712 and the limit block 714 are driven to move toward the two sides of the article, so that the limit block 714 squeezes the two sides of the article. The elastic action of the compression spring 713 is used to push the movable rod 712 and the limit block 714 to limit the two sides of the material, thereby ensuring the stable grasping of the article.

[0080] Next, the travel motor 42 is operated to drive the first transmission gear 43 to rotate, and the meshing action between the first transmission gear 43 and the first transmission rack 44 is utilized to make the first transmission gear 43 move along the first transmission rack 44, thereby driving the first track sliders 45 at both ends of the connecting plate 41 to move along the travel track 1, thereby driving the fixed plate 61, the mounting plate 67 and the clamping plate 74 to move together, thereby realizing the transportation of items.

[0081] The above shows and describes the basic principles and main features of the present invention and the 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 to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-machine multi-directional aerial track robot, comprising: Walking track (1); A track support column (2), the top end of which is fixedly mounted to the lower surface of the running track (1) by means of bolts; A fixed cross bar (3), one end of which is fixedly mounted on the track support column (2); It is characterized in that it also includes a walking mechanism (4), a lifting mechanism (5), a translation mechanism (6) and a clamping mechanism (7), wherein the walking mechanism (4) is arranged between the walking tracks (1) and is used to drive the objects to move along the walking tracks (1); The lifting mechanism (5) is arranged on the walking mechanism (4) and is used to take and place objects in a vertical direction; The translation mechanism (6) is arranged at the bottom end of the lifting mechanism (5) and is used for movement and adjustment in the horizontal direction; The clamping mechanism (7) is arranged on the translation mechanism (6) and is used to clamp and fix the object.

2. A multi-machine multi-directional aerial track robot according to claim 1, characterized in that: The walking mechanism (4) comprises: A connecting plate (41), wherein the connecting plate (41) is arranged between the running rails (1); A travel motor (42), wherein the travel motor (42) is fixedly mounted via a machine base and one side of the back side of the connecting plate (41); A first transmission gear (43), the first transmission gear (43) being transmission-connected to an output end of the travel motor (42); A first transmission rack (44), the first transmission rack (44) is fixedly connected to one side of the walking track (1), and the first transmission rack (44) is meshingly connected to the first transmission gear (43); A first track slider (45), wherein the first track slider (45) is fixedly connected to one end of the connecting plate (41), and the first track slider (45) is slidably and interlacedly connected to the running track (1) via a slot.

3. The multi-machine multi-directional aerial track robot according to claim 2, characterized in that: The lifting mechanism (5) comprises: A lifting motor (51), wherein the lifting motor (51) is fixedly installed via a machine base and the other side of the back side of the connecting plate (41); A second transmission gear (52), the second transmission gear (52) being transmission-connected to an output end of the lifting motor (51); A second transmission rack (53), wherein the second transmission rack (53) is arranged on one side of the second transmission gear (52), and the second transmission rack (53) is meshingly connected with the second transmission gear (52).

4. The multi-machine multi-directional aerial track robot according to claim 3, characterized in that: The lifting mechanism (5) further comprises: A primary track (54), wherein the primary track (54) is fixedly connected to one side of the second transmission rack (53); A secondary track (55), wherein the secondary track (55) is arranged on one side of the primary track (54); A transmission chain (56), wherein the transmission chain (56) is arranged between the primary track (54) and the secondary track (55), and the primary track (54) and the secondary track (55) are connected via the transmission chain (56).

5. The multi-machine multi-directional aerial track robot according to claim 4, characterized in that: The translation mechanism (6) comprises: A fixing plate (61), wherein the fixing plate (61) is fixedly mounted on the bottom end of the secondary track (55); A telescopic motor (62), wherein the telescopic motor (62) is fixedly mounted on a machine base and an upper surface of a fixing plate (61); A third transmission gear (63), the third transmission gear (63) is transmission-connected to the output end of the telescopic motor (62), and the third transmission gear (63) is arranged in a triangular shape; A third transmission rack (64), wherein the third transmission rack (64) is arranged below the fixed plate (61), and the third transmission rack (64) is meshedly connected with the third transmission gear (63).

6. The multi-machine multi-directional aerial track robot according to claim 5, characterized in that: The translation mechanism (6) further comprises: A synchronous wheel (65), wherein the synchronous wheel (65) is arranged at one end below the fixed plate (61), and the synchronous wheels (65) are connected to each other via a rotating shaft; A synchronous belt (66), wherein the synchronous belt (66) is arranged on both sides below the fixed plate (61), and the synchronous belt (66) is connected to the synchronous wheel (65); A mounting plate (67) is provided, wherein one side of the upper surface of the mounting plate (67) is fixedly mounted to one end of a synchronous belt (66) by means of bolts.

7. The multi-machine multi-directional aerial track robot according to claim 6, characterized in that: The clamping mechanism (7) comprises: A clamping cylinder (71), wherein the clamping cylinder (71) is arranged on the lower surface of the mounting plate (67); A linear track (72), wherein the linear track (72) is fixedly connected to the lower surface of the mounting plate (67); A second track slider (73), the second track slider (73) being slidably connected to the linear track (72) via a slot; A clamping plate (74), the clamping plate (74) being arranged below the mounting plate (67), the clamping plate (74) being drivingly connected to the output end of the clamping cylinder (71); A material sensor (75), wherein the material sensor (75) is fixedly mounted on the bottom of the clamping plate (74).

8. The multi-machine multi-directional aerial track robot according to claim 7, characterized in that: The clamping mechanism (7) further comprises: A fixed block (76), the fixed block (76) being fixedly connected to the lower surface of the mounting plate (67), and the lower surface of the fixed block (76) being provided with a movable groove; A movable block (77), one end of which is slidably connected to the inner cavity of the movable groove; A screw rod (78), wherein the screw rod (78) is disposed in the inner cavity of the fixed block (76), and the screw rod (78) is threadedly connected to one end of the movable block (77); A connecting gear (79), wherein the connecting gear (79) is fixedly connected to one end of the screw rod (78); A rack plate (710), one end of which is fixedly connected to the second track slider (73), and the other end of which is meshingly connected to the connecting gear (79).

9. The multi-machine multi-directional aerial track robot according to claim 8, characterized in that: The clamping mechanism (7) further comprises: A sleeve (711), one end of which is fixedly connected to the outer wall of the movable block (77); A movable rod (712), one end of which is slidably connected to the inner cavity of the sleeve (711); A compression spring (713), wherein the compression spring (713) is arranged in the inner cavity of the sleeve (711), and one end of the compression spring (713) is pressed against one end of the movable rod (712); A limit block (714), wherein the limit block (714) is fixedly connected to the other end of the movable rod (712).

10. A method for using a multi-machine multi-directional aerial track robot, characterized in that: The following steps are involved: First, the lifting motor (51) is operated to drive the second transmission gear (52) to rotate, and the meshing action of the second transmission gear (52) and the second transmission rack (53) is used to drive the primary track (54) to move vertically. The primary track (54), the secondary track (55) and the transmission chain (56) are used to realize long-stroke lifting and lowering, and the fixed plate (61) and the clamping plate (74) are driven to move downward to the upper position of the article. Then, the telescopic motor (62) drives the third transmission gear (63) to rotate, and the meshing action of the third transmission gear (63) and the third transmission rack (64) is used to realize the left and right extension of the first stage, and drives the synchronous belt (66) and the synchronous wheel (65) to realize the second stage extension. The short structure is used to realize long-stroke extension and retraction, and the mounting plate (67) and the clamping plate (74) are driven to move horizontally, so that the clamping plate (74) is set at the outer position of the article. Then, the operation of the clamping cylinder (71) drives the two clamping plates (74) to move along the linear track (72) to squeeze and clamp the front and back sides of the object. As the clamping plates (74) and the second track slider (73) move, the rack plate (710) is driven to move together. The meshing action of the rack plate (710) and the connecting gear (79) drives the screw rod (78) to rotate, so that the movable block (77) moves horizontally on the screw rod (78), driving the movable rod (712) and the limit block (714) to move toward both sides of the object, so that the limit block (714) squeezes both sides of the object. The elastic action of the compression spring (713) is used to push the movable rod (712) and the limit block (714) to limit both sides of the material, thereby ensuring stable grasping of the object. Next, the running of the travel motor (42) drives the first transmission gear (43) to rotate, and the meshing action between the first transmission gear (43) and the first transmission rack (44) causes the first transmission gear (43) to move along the first transmission rack (44), thereby driving the first track sliders (45) at both ends of the connecting plate (41) to move along the travel track (1), thereby driving the fixing plate (61), the mounting plate (67) and the clamping plate (74) to move together, thereby realizing the transportation of articles.

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