Automatic lifting device for robot

Abstract

The invention relates to the technical field of robot auxiliary devices, and discloses an automatic lifting device for a robot, the device is composed of two symmetrical devices and is fixed on the front side and the rear side of the robot through bolts, the device on one side comprises a shell, the bottom of the shell is connected with a support, the outer side of the support is provided with a winch component, and the winch component is connected with the bottom of the shell. An unhooking component is arranged in the shell and comprises an arc-shaped toothed bar, a limiting wheel, a double-end gear rod and a driving device. Through driving of the two motors and the transmission structure, the whole robot can be driven to move upwards after the lifting hook is hung on a cable, so that the automatic lifting function of the robot is achieved, meanwhile, an arc-shaped rack is arranged in the device, automatic unhooking can be achieved by means of transmission of a gear after the device ascends to a designated position, and the safety of the device is improved. The unmanned aerial vehicle does not need to assist unhooking, the working efficiency of lifting operation of the robot is greatly improved, and therefore the working progress of the robot can be accelerated.

Description

Technical Field

[0001] This invention relates to the field of robot auxiliary device technology, specifically to an automatic lifting device for robots. Background Technology

[0002] In winter, when low temperatures, rain, snow, and other severe weather occur, the overhead contact system of high-speed railways is highly susceptible to icing. As a critical component of the high-speed railway power supply system, if the contact system is covered by ice, its geometry and shape are altered, leading to uneven distribution of contact pressure between the pantograph and the contact system. This can cause power outages for trains, severely impacting railway operations. To ensure stable railway operation in winter, de-icing robots play a crucial role.

[0003] Currently, the installation of de-icing robots on cables is mainly carried out through three methods: manual tower climbing and hanging, drone hoisting, or a combination of drone / insulated pole and traction rope. Manual tower climbing and hanging requires full human intervention, which is dangerous and inefficient. The operation of external devices such as drones is more complex. It mainly involves manually controlling the drone to fly to the target location and suspending and securing the de-icing robot to the cable using guide ropes or traction ropes. The operation of drones is easily affected by the external environment, and the work efficiency is not high. Moreover, the unhooking of the traction rope and other structures requires the assistance of external drones, which increases the difficulty of operation for workers, slows down the cable de-icing progress, and thus affects railway operation. Summary of the Invention

[0004] In view of the shortcomings of existing automatic lifting devices for robots mentioned in the background art, the present invention provides an automatic lifting device for robots, which has the advantages of achieving automatic lifting and unhooking without much human intervention. It solves the technical problems of existing technologies mentioned in the background art, which require a lot of human intervention and cannot achieve complete automation. It has the advantages of high robot lifting efficiency and adaptability to various working environments.

[0005] This invention provides the following technical solution: an automatic lifting device for a robot, comprising two symmetrical components fixed to the front and rear sides of the robot by bolts. One side of the device includes a housing, with a support connected to the bottom of the housing. A winch component is mounted on the outer side of the support. A disengagement component is configured inside the housing, comprising an arc-shaped toothed rod, a limiting wheel, a double-ended gear rod, and a drive device. The arc-shaped toothed rod consists of a vertical portion at the top and a curved portion at the bottom, with a toothed surface and a smooth surface on its two sides. The toothed surface meshes with the double-ended gear rod, and the smooth surface contacts the limiting wheel. The toothed surface is located on one side of the inner arc of the arc-shaped toothed rod. The limiting wheel is movably mounted inside the housing. When the drive device drives the double-ended gear rod to rotate, the arc-shaped toothed rod deflects outward and obliquely upward. A hook is provided at the top of the arc-shaped toothed rod, and a steel rope is connected to the bottom of the hook. The other end of the steel rope is connected to the winch component.

[0006] Furthermore, the hoisting components include a second drive motor, a winding drum, and a lead screw.

[0007] Furthermore, the driving device for the unhooking component is a first drive motor with a corresponding battery externally configured, and the first drive motor is controlled by an external control system, with a bevel gear as the transmission gear.

[0008] Furthermore, the output shaft of the second drive motor is connected to a belt drive assembly, which is also connected to the winding drum. When the second drive motor is working, it drives the winding drum to rotate. A battery mounted on a bracket is configured on the other side of the second drive motor, and the second drive motor is controlled by an external control system.

[0009] Furthermore, the lead screw is located above the winding drum, with both ends of the lead screw movably connected to the support. The end of the lead screw located outside the support is connected to a gear transmission assembly, which consists of two meshing gears. The lower gear is connected to the outer end of the winding drum's central shaft, allowing the winding drum to rotate and drive the lead screw to rotate. A reversing block is movably sleeved on the outside of the lead screw via a thread. The reversing block has a transverse structure, and one end of the reversing block is movably sleeved on a transverse round rod on the support. This round rod is parallel to the lead screw, and the steel rope connected to the bottom of the hook passes through the reversing block and is wound around the winding drum.

[0010] Furthermore, the portion of the double-ended gear rod located at the outer end of the housing is a bevel gear, which meshes with the transmission gear, while the inner end of the double-ended gear rod is a cylindrical gear, which meshes with the arc-shaped gear rod.

[0011] Furthermore, the limiting wheel is installed inside the housing and is located on the outer side of the arc of the arc-shaped gear rod. The limiting wheel ensures that the arc-shaped gear rod can only move with the rotation of the double-ended gear rod.

[0012] Furthermore, the bottom of the hook is movably inserted into the top of the arc-shaped toothed rod, and the hook's bend direction is towards the limiting wheel. Additionally, a limiting block is connected to one end of the hook located on the toothed part of the arc-shaped toothed rod, so that the bottom of the hook will not continue to move after being inserted into the arc-shaped toothed rod.

[0013] The present invention has the following beneficial effects: 1. This invention, driven by two sets of motors and a transmission structure, can move the entire robot upward after the hook is attached to the cable, thereby realizing the robot's automatic lifting function. At the same time, by setting an arc-shaped rack inside the device, the device can automatically unhook after rising to a designated position by means of gear transmission, which facilitates the robot's subsequent operations. It eliminates the need for drone assistance in unhooking, greatly improving the efficiency of the robot's lifting operation and thus accelerating the robot's work progress.

[0014] 2. By setting a lead screw and a reversing structure above the wire winding drum, this invention can ensure the neatness of the wire winding when the device drives the robot to rise, avoid the problem of uneven wire winding at both ends of the device causing asymmetry of the force points and affecting the overall balance of the device, and improve the stability of the device during operation.

[0015] 3. This invention, through the cooperation of an arc-shaped toothed rod and a bevel gear, can control the hook to be reattached to the cable or other position when the robot needs to descend, which facilitates the release of the steel wire by the motor and realizes the descent of the robot. This improves the automation level of existing automatic lifting devices for robots, while also reducing the amount of manual operation and improving the robot's working efficiency. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of the invention; Figure 2 This is a schematic diagram of the outer structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of the present invention; Figure 4 This is a partial structural diagram of the present invention; Figure 5 This is a schematic diagram of the arc-shaped toothed rod and hook in this invention.

[0017] In the diagram: 1. Housing; 2. Bracket; 3. Arc-shaped gear; 4. Hook; 41. Limiting block; 5. Limiting wheel; 6. Double-headed gear rod; 7. First drive motor; 71. Transmission gear; 8. Second drive motor; 81. Belt drive assembly; 9. Lead screw; 91. Reversing block; 92. Gear drive assembly; 10. Winding drum. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figure 1 An automatic lifting device for a robot consists of two symmetrical sets of structures, which are fixedly installed on the front and rear sides of the robot by bolts. It includes a housing 1, a bracket 2 fixedly connected to the bottom of the housing 1, a winch assembly installed on the outside of the bracket 2, and a disengagement component inside the housing 1. The disengagement component is connected to the winch assembly by a steel rope. The winch assembly includes a second drive motor 8, a winding drum 10 and a lead screw 9, and the disengagement component consists of an arc-shaped toothed rod 3, a limit wheel 5, a double-headed gear rod 6 and a first drive motor 7.

[0020] Please see Figure 1 The first drive motor 7 is installed on the inner side of the housing 1. The first drive motor 7 and the second drive motor 8 are equipped with corresponding batteries on their outer sides to ensure the normal operation of the first drive motor 7 and the second drive motor 8. The first drive motor 7 and the second drive motor 8 can control the output shaft to rotate forward and reverse according to the command to realize the corresponding functions.

[0021] Please see Figure 2 The second drive motor 8 is located on the outside of the bracket 2, and its output shaft is connected to the belt drive assembly 81 mounted on the bracket 2. The belt drive assembly 81 transmits the output torque of the second drive motor 8 to the winding drum 10. The winding drum 10 is movably mounted on the bracket 2. When the second drive motor 8 is working, it can drive the winding drum 10 to rotate. The inside of the housing 1 is provided with a hook 4. The hook 4 has a bent hook structure, and the bottom end of the hook 4 is connected to a steel rope. The other end of the steel rope is connected to the outside of the winding drum 10. When the robot needs to move up to the corresponding position, the hook 4 is hung on the railway cable. The second drive motor 8 can then drive the winding drum 10 to rotate through the control program, and the steel rope can be wound up to realize the automatic upward movement of the robot.

[0022] See Figure 3-4The output shaft of the first drive motor 7 is connected to a transmission gear 71, which is a bevel gear. A double-ended gear rod 6 is movably mounted on the housing 1, and the double-ended gear rod 6 can rotate on the housing 1. The end of the double-ended gear rod 6 located outside the housing 1 is a bevel gear that meshes with the transmission gear 71, and the end of the double-ended gear rod 6 located inside the housing 1 is a circular gear. At the same time, an arc-shaped gear rod 3 is provided inside the housing 1. The arc-shaped gear rod 3 consists of two parts, with a vertical structure at the top and a curved structure at the bottom. The two sides of the arc-shaped gear rod 3 are a tooth surface and a smooth surface, respectively. The tooth surface is located on the inner side of the curved direction of the arc-shaped gear rod 3, and the tooth surface of the arc-shaped gear rod 3 meshes with the outside of the double-ended gear rod 6. A limit wheel 5 is provided on the smooth surface side of the arc-shaped gear rod 3. The limit wheel 5 is mounted on the housing 1 to limit the position of the arc-shaped gear rod 3, and at the same time... This will affect the movement of the arc-shaped toothed rod 3, and the steel cable passes through the arc-shaped toothed rod 3 and connects to the hook 4. When the device raises the robot to the designated position, the bottom end of the hook 4 is just inserted into the top of the arc-shaped toothed rod 3, and the hook 4 is bent towards the limit wheel 5. The first drive motor 7 drives the double-headed gear rod 6 to rotate, which can make the arc-shaped toothed rod 3 move upward and deflect outward, thereby driving the hook 4 to move upward and deflect outward, realizing the automatic unhooking function. Without the help of external forces such as drones, the automatic lifting device can achieve automatic unhooking, which can greatly improve the unhooking efficiency, enable the robot to quickly reach the working conditions, improve the robot's working efficiency, and reduce manual operation. Compared with the existing traditional methods, it can better adapt to different working environments. Even in bad weather, it is easier to raise and lower the robot, improving the safety of manual operation.

[0023] Please see Figure 4 When the device needs to descend, the first drive motor 7 receives the command and controls the output shaft to reverse, causing the double-headed gear rod 6 to drive the arc-shaped gear rod 3 to move. With the cooperation of the limit wheel 5 and the double-headed gear rod 6, the arc-shaped gear rod 3 drives the hook 4 to return to the position shown in the figure. The hook 4 is then reattached to the railway cable. At this time, the robot can be controlled to detach from the cable. Then, the second drive motor 8 reverses and controls the winding drum 10 to release the steel rope at a uniform speed. The winding drums 10 at both ends of the robot move at the same speed until the robot descends to the designated height, realizing the robot's automatic descent function. The entire process does not require the assistance of a drone to hook the cable, which can greatly improve work efficiency and facilitate manual control, thus facilitating the rapid restoration of the railway.

[0024] In addition, when the first drive motor 7 drives the double-headed gear rod 6 to control the movement of the arc-shaped gear rod 3, the second drive motor 8 will also move accordingly so that the steel rope can cooperate with the movement of the hook 4, so that the steel rope will not hinder the hook 4 from unhooking, and there will be no problem of steel rope redundancy.

[0025] Please see Figure 3The other end of the central shaft of the winding drum 10 is connected to the gear transmission assembly 92. The gear transmission assembly 92 consists of two meshing gears. The lower gear is connected to the winding drum 10, and the upper gear is mounted on the bracket 2 and connected to the lead screw 9. The two ends of the lead screw 9 are also movably connected to the bracket 2 through rotating shafts, so that when the gear transmission assembly 92 rotates, the lead screw 9 can also rotate. A reversing block 91 is movably sleeved on the lead screw 9 through a thread. The reversing block 91 is arranged horizontally, and its tail is engaged with a horizontal round rod located on the bracket 2, so that when the lead screw 9 rotates, the reversing block 91 can move laterally along the lead screw 9, and the steel rope passes through the reversing block 91. When the second drive motor 8 controls the winding drum 10 to wind and unwind the steel rope, the steel rope can be evenly wound on the winding drum 10 along the movement of the reversing block 91, which facilitates the winding and unwinding of the steel rope. At the same time, it can also ensure that the stress points of the steel rope at both ends of the device can be relatively symmetrical, which is beneficial to the overall balance of the device and ensures the stability of the device during operation.

[0026] The working principle of this invention is as follows: The device is fixedly installed at both ends of the robot with bolts. When the de-icing robot is working, it needs to be raised to the corresponding position, and the two hooks 4 are hung at the corresponding positions of the railway cable. At this time, the steel rope passes through the arc-shaped toothed rod 3 from the bottom end of the hook 4, passes through the reversing block 91, and is fixed on the winding drum 10. The control system sends a signal to the second drive motor 8, and the second drive motor 8 starts working. The output shaft of the second drive motor 8 drives the winding drum 10 to rotate through the belt drive group 81. The winding drum 10 winds up the steel wire. The winding drums 10 at both ends of the robot work synchronously. At the same time, the rotation of the winding drum 10 causes the gear transmission group 92 to control the lead screw 9 to rotate. The reversing block 91 moves laterally along the lead screw 9, so that the steel wire is evenly wound on the winding drum 10. As the steel wire is wound up, the device and the robot as a whole move upward until the hook 4 is engaged in the arc-shaped toothed rod 3. Then the robot realizes the desired operation according to the set program. After the robot is fixed in position on the railway cable, the corresponding control program sends a command to the first drive motor 7. The first drive motor 7 starts working, the transmission gear 71 rotates and causes the double-headed gear rod 6 to rotate. The rotation of the double-headed gear rod 6 causes the arc-shaped gear rod 3 to move upward. The arc-shaped gear rod 3 drives the hook 4 to move upward and deflect outward. At this time, the second drive motor 8 works simultaneously, providing the corresponding wire allowance for the upward movement distance of the hook 4 until the hook 4 is completely away from the cable. At this time, the robot can start the corresponding operation. When it is necessary to lower the robot, the first drive motor 7 reverses, so that the arc-shaped gear rod 3 returns to its original position and the hook 4 is reattached to the cable. At the same time, the second drive motor 8 also works to tighten the corresponding wire. Then the robot disengages from the cable according to the program. The second drive motor 8 starts to reverse according to the program setting. The winding drums 10 at both ends of the device release the wire at a uniform speed, so that the robot descends at a uniform speed until the robot descends to the ground or a specified height.

[0027] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic lifting device for a robot, comprising two symmetrical components fixed to the front and rear sides of the robot by bolts, wherein one component includes a housing (1), characterized in that: The bottom of the housing (1) is connected to a bracket (2), and a winch component is installed on the outside of the bracket (2). The inside of the housing (1) is equipped with a disengagement component, which includes an arc-shaped toothed rod (3), a limiting wheel (5), a double-headed gear rod (6), and a drive device. The arc-shaped toothed rod (3) consists of a vertical part at the top and a curved part at the bottom. The two sides of the arc-shaped toothed rod (3) are a tooth surface and a smooth surface, respectively. The tooth surface meshes with the double-headed gear rod (6), and the smooth surface contacts the limiting wheel (5). The tooth surface is located on one side of the arc-shaped inner side of the arc-shaped toothed rod (3). The limiting wheel (5) is movably installed inside the housing (1). When the drive device drives the double-headed gear rod (6) to rotate, the arc-shaped toothed rod (3) deflects to the outside of the double-headed gear rod (6) and obliquely upward. A hook (4) is provided at the top of the arc-shaped toothed rod (3). A steel rope is connected to the bottom of the hook (4), and the other end of the steel rope is connected to the winch component.

2. The automatic lifting device for a robot according to claim 1, characterized in that: The hoisting components include a second drive motor (8), a winding drum (10), and a lead screw (9).

3. The automatic lifting device for a robot according to claim 2, characterized in that: The driving device of the unhooking component is (7), the first drive motor (7) is equipped with a corresponding battery, and the first drive motor (7) is controlled by an external control system. The transmission gear (71) is a bevel gear.

4. The automatic lifting device for a robot according to claim 2, characterized in that: The output shaft of the second drive motor (8) is connected to a belt drive assembly (81), which is also connected to a winding drum (10). When the second drive motor (8) is working, it drives the winding drum (10) to rotate. A battery mounted on a bracket (2) is provided on the other side of the second drive motor (8), and the second drive motor (8) is controlled by an external control system.

5. An automatic lifting device for a robot according to claim 2, characterized in that: The lead screw (9) is located above the winding drum (10). Both ends of the lead screw (9) are movably connected to the support (2). The end of the lead screw (9) located outside the support (2) is connected to a gear transmission group (92). The gear transmission group (92) consists of two meshing gears. The lower gear is connected to the outer end of the central shaft of the winding drum (10), so that the winding drum (10) can drive the lead screw (9) to rotate when it rotates. A reversing block (91) is movably sleeved on the outside of the lead screw (9) through a thread. The reversing block (91) has a transverse structure, and one end of the reversing block (91) is movably sleeved on a transverse round rod on the support (2). The round rod is parallel to the lead screw (9). The steel rope connected to the bottom end of the hook (4) passes through the reversing block (91) and is wound on the winding drum (10).

6. The automatic lifting device for a robot according to claim 1, characterized in that: The portion of the double-headed gear rod (6) located at the outer end of the housing (1) is a bevel gear, which meshes with the transmission gear (71). The end of the double-headed gear rod (6) located inside the housing (1) is a cylindrical gear, which meshes with the arc-shaped gear rod (3).

7. The automatic lifting device for a robot according to claim 1, characterized in that: The limiting wheel (5) is installed inside the housing (1) and is located on the outer side of the arc of the arc-shaped gear (3). The limiting wheel (5) makes the arc-shaped gear (3) only able to move with the rotation of the double-headed gear (6).

8. An automatic lifting device for a robot according to claim 1, characterized in that: The bottom of the hook (4) is movably inserted into the top of the arc-shaped toothed rod (3), and the hook (4) is bent towards the limiting wheel (5). The hook (4) is connected to a limiting block (41) at one end of the arc-shaped toothed rod (3), so that the bottom of the hook (4) will not continue to move after being inserted into the arc-shaped toothed rod (3).

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