Overhead rail type child-mother robot

Abstract

The invention provides an overhead rail type child-mother robot which comprises a main robot and a child robot, a limiting frame is installed on one side of the main robot, the limiting frame is of an L-shaped structure, a rotating disc frame is rotationally arranged on the limiting frame, the rotating disc frame is of an L-shaped structure and is arranged close to the right-angle position of the limiting frame, and the rotating disc frame is connected with the child robot. A positioning hanger rail is mounted at the top of the turntable frame, the positioning hanger rail is arranged opposite to the right-angle surface of the turntable frame, an extending hanger rail is arranged on the surface of the positioning hanger rail in a sliding manner, and a hydraulic rod is mounted at the top of the positioning hanger rail; by arranging the main robot and the sub-robots, during running, the sub-robots can be conveyed into the rails of the hanger rails in other directions through the main robot, so that the main robot and the sub-robots can achieve the transfer purpose without occupying the ground space, the space utilization rate is greatly increased, and a work task can be completed without arranging a redundant transfer mechanism.

Description

Technical Field

[0001] The invention belongs to the field of rail-mounted robots, in particular to a rail-mounted mother-and-child robot. Background Art

[0002] In power systems, the continuous nature of electrical energy generation, transmission, distribution, and utilization places high demands on the safe and reliable operation of each unit within the system. Especially with the rapid development of the power industry toward larger units, higher capacities, and higher voltages, ensuring the reliability of equipment operation has become a prominent issue in production safety. Consequently, inspections of power equipment, particularly the application of advanced equipment and methods for equipment fault diagnosis, are gaining increasing attention.

[0003] Most existing robots are ground-walking robots, which not only occupy ground space but are also unsuitable for performing high-altitude operations. Therefore, rail-mounted robots have also appeared in the prior art. However, existing rail-mounted robots usually have a rail-mounted robot that moves along a track in the air to perform tasks. They have the following main defects: (1) The track needs to be designed into an arc structure to facilitate the robot's turning. If multiple robots are set on the track, they are likely to collide with each other, making it impossible to ensure the orderly execution of various tasks. In addition, the track structure design is complex. (2) It is difficult for robots to switch freely between different tracks. A movable track needs to be designed, which is not only complex in structure and control but also has low traffic efficiency.

[0004] In summary, the present invention provides a rail-mounted mother-and-child robot to solve the above problems. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a hanging rail type mother-and-child robot to solve the problem that it is difficult for robots to switch freely between different tracks in the prior art.

[0006] The cam frame is an L-shaped structure and is provided with a turntable frame for rotating on the cam frame. The turntable frame is an L-shaped structure and is arranged close to the right angle of the cam frame. The top of the turntable frame is provided with a positioning rail, the positioning rail is arranged opposite to the right angle surface of the turntable frame, and an extension rail is slidably provided on the surface of the positioning rail. The top of the positioning rail is provided with a hydraulic rod, the piston rod of the hydraulic rod is fixedly connected to one end of the extension rail, the sub-robot is slidably arranged on the extension rail, and the bottom of the turntable frame is fixedly connected with a rotating shaft, the rotating shaft movably passes through one end of the limit frame that is not connected to the main robot, and the rotating shaft passes through one end of the limit frame and is fixedly connected to a transmission roller 1. The bottom of the main robot is fixedly connected to a transmission roller 2 through a transmission shaft, and the transmission roller 2 and the transmission roller 1 are connected by a transmission belt.

[0007] Furthermore, the top of the positioning hanging rail is provided with mutually symmetrical turning grooves, the extending hanging rail is provided with a positioning groove, and a turning block is rotatably connected in the turning groove.

[0008] Furthermore, one end of the flip block is rotatably connected to the flip groove through a flip shaft, a gear groove is provided on the end of the flip block away from the flip shaft, the side of the flip block away from the flip shaft is an "L"-shaped structure, and the bottom of the flip block is an arc-shaped structure.

[0009] Furthermore, a baffle is installed on the positioning hanging rail, and the baffle is arranged on a side of the positioning hanging rail close to the sub-robot, and the size of the baffle matches the size of the gear slot.

[0010] Furthermore, the turntable frame is rotatably connected to the surface of the limiting frame along the rotation axis.

[0011] Furthermore, the positioning slots and the flipping slots are arranged in a one-to-one correspondence, and the positioning slots are larger than the flipping slots.

[0012] Furthermore, one end of the extension hanging rail is movably inserted into the positioning hanging rail, and a push plate is installed at one end of the extension hanging rail away from the positioning hanging rail, and the push plate is connected to the hydraulic rod.

[0013] Furthermore, a motor frame is installed at the bottom of the main robot, and a drive motor is installed on the motor frame. The output shaft of the drive motor movably passes through the motor frame and is fixedly connected to one end of the transmission shaft through a coupling.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. The present invention sets up a main robot and a sub-robot. During operation, the main robot can transport the sub-robot to the track of the hanging rail in other directions, so that the master and slave robots can achieve the purpose of transportation without occupying the ground space, greatly improving the space utilization rate, and completing the work task without setting up additional transfer mechanisms.

[0016] 2. The present invention can change the direction of the sub-robot by setting a rotating turntable and adjust it according to the angle of the hanging rail, so that the running direction of the sub-robot better matches the direction of the hanging rail, moves to the surface of the hanging rail faster, improves work efficiency, and thus does not delay the time of executing the task.

[0017] 3. The present invention can extend the alignment track of the sub-robot by setting a positioning hanging rail and an extension hanging rail, so that it can be aligned with the installed hanging rail. The sub-robot can move to the track better, and can ensure that the rollers of the sub-robot can run reliably on the track and will not deviate from the running track. The hanging rail robot is composed of a hanging rail, a mobile carrier that moves along the hanging rail, communication equipment and detection equipment, etc. It adopts remote control or fully autonomous operation mode, and is a mobile inspection device used for substation equipment inspection operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a three-dimensional Figure 1 ;

[0019] Figure 2 The present invention is a three-dimensional Figure 2 ;

[0020] Figure 3 This is a three-dimensional diagram of the sub-robot of the present invention;

[0021] Figure 4 This is a three-dimensional diagram of the positioning hanging rail of the present invention;

[0022] Figure 5 It is a three-dimensional diagram of a turntable frame of the present invention.

[0023] In the picture:

[0024] 1. Main robot; 2. Limit frame; 3. Sub-robot; 4. Positioning hanging rail; 5. Extension hanging rail; 6. Hydraulic rod; 7. Drive belt; 8. Rotating shaft; 9. Motor frame; 10. Flip groove; 11. Flip block; 12. Drive roller 1; 13. Drive roller 2; 14. Drive motor; 15. Positioning groove; 16. Baffle; 17. Turntable frame. DETAILED DESCRIPTION

[0025] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0026] like Figure 1-Figure 5 As shown, the present invention provides a rail-type mother-and-child robot, comprising a main robot 1 and a sub-robot 3. A limit frame 2 is installed on one side of the main robot 1. The limit frame 2 is an "L"-shaped structure. A turntable frame 17 is rotatably provided on the limit frame 2. The turntable frame 17 is an "L"-shaped structure and is arranged close to the right angle of the limit frame 2. A positioning rail 4 is installed on the top of the turntable frame 17. The positioning rail 4 is arranged opposite to the right angle surface of the turntable frame 17. An extension rail 5 is slidingly provided on the surface of the positioning rail 4. The positioning rail 4 A hydraulic rod 6 is installed on the top, and the piston rod of the hydraulic rod 6 is fixedly connected to one end of the extension hanging rail 5. The sub-robot 3 is slidably set on the extension hanging rail 5. The bottom of the turntable frame 17 is fixedly connected to the rotating shaft 8, and the rotating shaft 8 movably passes through the end of the limit frame 2 that is not connected to the main robot 1. The rotating shaft 8 passes through one end of the limit frame 2 and is fixedly connected to the transmission roller 12. The bottom of the main robot 1 is fixedly connected to the transmission roller 2 13 through the transmission shaft, and the transmission roller 2 13 and the transmission roller 12 are connected by a transmission belt 7.

[0027] As an embodiment of the present invention, the top of the positioning hanging rail 4 is provided with mutually symmetrical turning grooves 10, the extending hanging rail 5 is provided with a locking groove 15, and a turning block 11 is rotatably connected in the turning groove 10.

[0028] As an embodiment of the present invention, one end of the flip block 11 is rotatably connected to the flip groove 10 through a flip axis, a gear groove is provided on the end of the flip block 11 away from the flip axis, the side of the flip block 11 away from the flip axis is an "L"-shaped structure, and the bottom of the flip block 11 is an arc-shaped structure.

[0029] As an embodiment of the present invention, a baffle 16 is installed on the positioning rail 4. The baffle 16 is set on a side of the positioning rail 4 close to the sub-robot 3. The size of the baffle 16 matches the size of the gear slot.

[0030] As an embodiment of the present invention, the turntable frame 17 is rotatably connected to the surface of the limiting frame 2 along the rotating shaft 8 .

[0031] As an embodiment of the present invention, the locking groove 15 and the flip groove 10 are arranged in a one-to-one correspondence, and the locking groove 15 is larger than the flip groove 10.

[0032] As an embodiment of the present invention, one end of the extension hanging rail 5 is movably inserted into the positioning hanging rail 4, and a push plate is installed at the end of the extension hanging rail 5 away from the positioning hanging rail 4, and the push plate is connected to the hydraulic rod 6.

[0033] As an embodiment of the present invention, a motor frame 9 is installed at the bottom of the main robot 1, and a drive motor 14 is installed on the motor frame 9. The output shaft of the drive motor 14 movably passes through the motor frame 9 and is fixedly connected to one end of the transmission shaft through a coupling.

[0034] Specific working principle:

[0035] When the main robot 1 moves on the hanging rail, the sub-robot 3 can be transferred to other branch hanging rails;

[0036] When the main robot 1 moves, the sub-robot 3 is driven to follow and then moves to and stops in front of the opposite hanging rail. The position of the sub-robot 3 corresponds to the open end of the hanging rail, and then the hydraulic rod 6 is activated. The hydraulic rod 6 pushes the extended hanging rail 5 forward and approaches one end of the hanging rail. The extended hanging rail 5 is aligned with the installed hanging rail, and the sub-robot 3 is able to transition to the installed hanging rail.

[0037] When the sub-robot 3 is aligned, not only can the length of the hanging rail be extended to make it aligned, but the alignment direction of the extended hanging rail 5 can also be changed by the drive motor 14. The drive motor 14 is started, and the drive motor 14 drives the transmission roller 2 13 to rotate. Through the transmission of the transmission belt 7, the transmission roller 12 rotates at the same time, and the turntable 17 rotates, and then the upper sub-robot 3 and the extended hanging rail 5 rotate accordingly. After adjusting to the appropriate direction, the hanging rails are aligned again, and the matching degree is higher.

[0038] When the hanging rail is extended, the extended hanging rail 5 is pushed toward one end of the positioning hanging rail 4, and then the baffle 16 disengages from the baffle groove. When it continues to move, the positioning groove 15 squeezes the arc surface of the flip block 11, causing the flip block 11 to flip and rotate in the flip groove 10 to the upper end of the positioning hanging rail 4, so that the sub-robot 3 can slide freely in the extended hanging rail 5.

[0039] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A rail-mounted mother-and-child robot, comprising a main robot (1) and a child robot (3), characterized in that: A limiting frame (2) is installed on one side of the main robot (1), and the limiting frame (2) is an "L"-shaped structure. A turntable frame (17) is rotatably installed on the limiting frame (2), and the turntable frame (17) is an "L"-shaped structure and is arranged close to the right angle of the limiting frame (2). A positioning hanging rail (4) is installed on the top of the turntable frame (17), and the positioning hanging rail (4) is arranged opposite to the right angle surface of the turntable frame (17). An extension hanging rail (5) is slidably provided on the surface of the positioning hanging rail (4), and a hydraulic rod (6) is installed on the top of the positioning hanging rail (4). The hydraulic rod (6) ) is fixedly connected to one end of the extension hanging rail (5), the sub-robot (3) is slidably set on the extension hanging rail (5), the bottom of the turntable frame (17) is fixedly connected to a rotating shaft (8), the rotating shaft (8) movably passes through the end of the limit frame (2) that is not connected to the main robot (1), the rotating shaft (8) passes through the end of the limit frame (2) and is fixedly connected to a transmission roller 1 (12), the bottom of the main robot (1) is fixedly connected to a transmission roller 2 (13) through a transmission shaft, and the transmission roller 2 (13) and the transmission roller 1 (12) are connected by a transmission belt (7).

2. The rail-mounted mother-and-child robot according to claim 1, characterized in that: The top of the positioning hanging rail (4) is provided with symmetrical turning grooves (10), the extending hanging rail (5) is provided with a positioning groove (15), and a turning block (11) is rotatably connected in the turning groove (10).

3. The rail-mounted mother-and-child robot according to claim 2, characterized in that: One end of the flip block (11) is rotatably connected to the flip groove (10) via a flip shaft, a shifting groove is provided on the end of the flip block (11) away from the flip shaft, a side surface of the flip block (11) away from the flip shaft is an "L"-shaped structure, and the bottom of the flip block (11) is an arc-shaped structure.

4. The rail-mounted mother-and-child robot according to claim 3, characterized in that: A baffle (16) is installed on the positioning hanging rail (4), and the baffle (16) is arranged on a side of the positioning hanging rail (4) close to the sub-robot (3). The size of the baffle (16) matches the size of the gear slot.

5. The rail-mounted mother-and-child robot according to claim 1, characterized in that: The turntable frame (17) is rotatably connected to the surface of the limiting frame (2) along the rotating shaft (8).

6. The rail-mounted mother-and-child robot according to claim 1, characterized in that: The locking slot (15) and the flip slot (10) are arranged in a one-to-one correspondence, and the locking slot (15) is larger than the flip slot (10).

7. The rail-mounted mother-and-child robot according to claim 1, characterized in that: One end of the extension hanging rail (5) is movably inserted into the positioning hanging rail (4), and a push plate is installed at one end of the extension hanging rail (5) away from the positioning hanging rail (4), and the push plate is connected to the hydraulic rod (6).

8. The rail-mounted mother-and-child robot according to claim 1, characterized in that: A motor frame (9) is installed at the bottom of the main robot (1), a driving motor (14) is installed on the motor frame (9), and an output shaft of the driving motor (14) movably passes through the motor frame (9) and is fixedly connected to one end of the transmission shaft through a coupling.

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