Rail robot limiting buffer

Abstract

The utility model relates to a limiting buffer for a rail robot. Comprising a top mounting plate fixedly connected with a track and a bottom limiting plate used for triggering a limiting switch on the track robot, a front connecting frame is arranged between the front portions of the top mounting plate and the bottom limiting plate, and a rear connecting frame is arranged between the rear portions of the top mounting plate and the bottom limiting plate; the top and the bottom of the front connecting frame are hinged to the front portion of the top mounting plate and the front portion of the bottom limiting plate respectively, the top and the bottom of the rear connecting frame are hinged to the rear portion of the top mounting plate and the rear portion of the bottom limiting plate respectively, and the top mounting plate, the bottom limiting plate, the front connecting frame and the rear connecting frame form a four-connecting-rod structure. And the torsion spring provides elastic force for the four-connecting-rod structure. The utility model provides a limiting buffer for a rail robot, which provides limiting and buffering functions for the rail robot, and when the rail robot reaches a specific position, the rail robot is prevented from colliding with a main body part of the rail robot, and meanwhile, the rail robot obtains a continuous and stable limiting signal.

Description

Technical Field

[0001] The utility model belongs to the technical field of track robots, and in particular relates to a track robot limit buffer. Background Art

[0002] With the development of technology, rail robots have been used more and more widely in various industries. Rail robots usually move along a specific path determined by the track, and complete tasks such as inspections during the movement. Rail robots need to be equipped with a walking mechanism, which cooperates with the track to realize the walking drive, guidance, stability, load-bearing and other functions of the rail robot. When the rail robot moves along the track, it is usually necessary to limit the position of the rail robot at the end position so that the rail robot can stop at a specific position. The principle of the limit is: a limit switch is installed on the front of the rail robot. At the specific position where it needs to stop, the limit switch contacts the specific mechanism set at the position, and the limit switch generates a signal. After the controller of the rail robot receives the limit signal, it instructs the walking mechanism to stop.

[0003] The rail robot has a certain weight. When it reaches a specific position at a certain speed and stops, it will still move forward a certain distance before it stops completely due to inertia. At this time, if the specific limit mechanism set on the track is a rigid mechanism, it will collide with the main body of the rail robot. On the other hand, the specific limit mechanism should maintain a continuous effect on the limit switch of the rail robot, so that the limit switch generates a continuous and stable limit signal before it stops completely. The existing limit mechanism is limited by the structural design and it is difficult to achieve the above effect. Utility Model Content

[0004] The utility model aims to provide a limit buffer for a rail robot, which provides limit and buffer functions, and enables the rail robot to obtain a continuous and stable limit signal while avoiding collision with a main part of the rail robot when the rail robot reaches a specific position.

[0005] The technical solution adopted by the utility model is: a rail robot limit buffer, including a top mounting plate fixedly connected to the rail and a bottom limit plate for triggering a limit switch on the rail robot, a front connecting frame is provided between the front parts of the top mounting plate and the bottom limit plate, and a rear connecting frame is provided between the rear parts, the top and bottom of the front connecting frame are respectively hingedly connected to the front parts of the top mounting plate and the bottom limit plate, the top and bottom of the rear connecting frame are respectively hingedly connected to the rear parts of the top mounting plate and the bottom limit plate, the top mounting plate, the bottom limit plate, the front connecting frame and the rear connecting frame form a four-bar structure; and also include a torsion spring that provides elastic force for the four-bar structure.

[0006] Preferably, a top front connecting plate bent downward is provided on both sides of the front of the top mounting plate, and a top rear connecting plate bent downward is provided on both sides of the rear; the bottom limit plate is an L-shaped folding plate, the front facade of the vertical plate is the contact surface for triggering the limit switch on the track robot, and upward-bending bottom side panels are provided on both sides of the horizontal plate of the bottom limit plate.

[0007] Preferably, a front frame upper connecting plate is provided on both sides of the top of the front connecting frame, and a front frame lower connecting plate is provided on both sides of the bottom; a rear frame upper connecting plate is provided on both sides of the top of the rear connecting frame, and a rear frame lower connecting plate is provided on both sides of the bottom.

[0008] Preferably, the top front connecting plate and the upper connecting plate of the front frame are hingedly connected by a top front connecting axis, the top rear connecting plate and the upper connecting plate of the rear frame are hingedly connected by a top rear connecting axis, the front part of the bottom side plate and the lower connecting plate of the front frame are hingedly connected by a bottom front connecting axis, and the rear part of the bottom side plate and the lower connecting plate of the rear frame are hingedly connected by a bottom rear connecting axis.

[0009] Preferably, two torsion springs are provided and installed on the top front connecting shaft and are limited by a clamping ring installed on the top front connecting shaft. The torsion spring is located between the top mounting plate and the front connecting frame.

[0010] Preferably, a first side connecting plate and a second side connecting plate with mounting holes are respectively provided on both sides of the middle of the top mounting plate, and the first side connecting plate and the second side connecting plate are fixedly connected to the rail by mounting bolts located in the mounting holes.

[0011] Preferably, two left and right reinforcing angle plates are installed between the horizontal plate and the vertical plate of the bottom limiting plate.

[0012] Preferably, the top front connecting shaft, the top rear connecting shaft, the bottom front connecting shaft and the bottom rear connecting shaft are all long bolts.

[0013] The advantages and positive effects of the utility model are:

[0014] The utility model provides a track robot limit buffer with a reasonable structural design. Compared with the existing limit buffer, the limit buffer in the utility model adopts a four-link structure design with a torsion spring. When the track robot moves to the installation position of the limit buffer, the limit switch (usually a proximity switch) arranged on the track robot first contacts the bottom limit plate to generate a limit signal. In the process of complete braking, the limit buffer continues to deform and the torsion spring is further compressed. First, the limit buffer can provide a good buffering effect for the track robot, meet the buffering needs of the track robot from the beginning of braking to the complete braking under high-speed moving state, and avoid the track robot from being hit by collision by avoiding rigid contact. Secondly, in the process of the track robot from the beginning of braking to the complete braking, the four-link structure and the torsion spring jointly keep the bottom limit plate and the limit switch (usually a proximity switch) in continuous and reliable contact, so that the track robot can obtain a continuous and stable limit signal.

[0015] The limit buffer has the advantages of small size and large buffer distance in structural design, which is very convenient to install on the track. It can play a stable and reliable limit buffer role during the application period without maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model, from the front upper perspective;

[0017] Figure 2 It is a schematic diagram of the structure of the utility model, from the rear lower perspective;

[0018] Figure 3 It is a schematic diagram of the structure of the utility model in use state;

[0019] Figure 4 It is a dynamic schematic diagram of the utility model in the process of limiting buffering.

[0020] In the figure:

[0021] 1. Top rear connecting plate; 2. First side connecting plate; 3. Top mounting plate; 4. Top rear connecting shaft; 5. Mounting bolts; 6. Second side connecting plate; 7. Top front connecting shaft; 8. Top front connecting plate; 9. Retaining ring; 10. Torsion spring; 11. Rear connecting frame; 12. Front connecting frame; 13. Bottom rear connecting shaft; 14. Bottom side plate; 15. Reinforced angle plate; 16. Bottom front connecting shaft; 17. Bottom limiting plate; 18. Front frame upper connecting plate; 19. Front frame lower connecting plate; 20. Rear frame lower connecting plate; 21. Rear frame upper connecting plate; 22. Track; 23. Track robot. DETAILED DESCRIPTION

[0022] In order to further understand the content, features and effects of the present invention, the following embodiments are given to explain in detail.

[0023] See also Figure 1 and Figure 2 The rail robot limit buffer of the utility model includes a top mounting plate 3 fixedly connected to the rail 22 and a bottom limit plate 17 for triggering a limit switch (usually a proximity switch, but can also be a contact switch) on the rail robot 23. When used, the top mounting plate 3 is directly mounted and fixed on the rail 22. When the rail robot 23 moves along the rail 22 to the position of the limit buffer, the bottom limit plate 17 contacts the limit switch, and the limit switch generates a limit signal.

[0024] A front connecting frame 12 is provided between the front parts of the top mounting plate 3 and the bottom limiting plate 17, and a rear connecting frame 11 is provided between the rear parts. The top and bottom of the front connecting frame 12 are respectively hingedly connected to the front parts of the top mounting plate 3 and the bottom limiting plate 17, and the top and bottom of the rear connecting frame 11 are respectively hingedly connected to the rear parts of the top mounting plate 3 and the bottom limiting plate 17. The top mounting plate 3, the bottom limiting plate 17, the front connecting frame 12 and the rear connecting frame 11 form a four-bar structure. As shown in the figure, the contact surface between the bottom limiting plate 17 and the limit switch is a vertical surface. Since the bottom limiting plate 17 is a part of the four-bar structure, the bottom limiting plate 17 can always maintain its posture during the process of the four-bar structure being deformed by the extrusion, that is, the contact surface with the limit switch always maintains a vertical posture, which can ensure that the bottom limiting plate 17 maintains reasonable contact with the limit switch on the track robot 23.

[0025] It also includes a torsion spring 10 that provides elastic force for the four-bar structure. As shown in the figure, under the action of the torsion spring 10, the four-bar structure swings to a high position in the initial state. When the track robot 23 exerts an extrusion effect on the limit buffer, the four-bar structure is deformed, and the bottom limit plate 17 swings to a low position. At this time, the torsion spring 10 is further compressed and further accumulates force. When the track robot 23 drives away, the extrusion effect disappears, and under the action of the restoring elastic force of the torsion spring 10, the four-bar structure returns to its initial state, ready to contact the track robot 23 next time.

[0026] In this embodiment, a top front connecting plate 8 bent downward is provided on both sides of the front part of the top mounting plate 3, and a top rear connecting plate 1 bent downward is provided on both sides of the rear part. A first side connecting plate 2 and a second side connecting plate 6 with mounting holes are provided on both sides of the middle part of the top mounting plate 3, respectively. The first side connecting plate 2 and the second side connecting plate 6 are fixedly connected to the rail 22 by mounting bolts 5 located in the mounting holes. The top rear connecting plate 1, the first side connecting plate 2, the top mounting plate 3, the second side connecting plate 6 and the top front connecting plate 8 can be made of the same metal plate by cutting and stamping processes.

[0027] In this embodiment, the bottom limit plate 17 is an L-shaped folded plate, the front elevation of the vertical plate is the contact surface for triggering the limit switch on the track robot 23, and the bottom side plates 14 bent upward are provided on both sides of the horizontal plate of the bottom limit plate 17. Two left and right reinforcing angle plates 15 are installed between the horizontal plate and the vertical plate of the bottom limit plate 17, and the role of providing the reinforcing angle plates 15 is to improve the structural strength of the bottom limit plate 17. The bottom limit plate 17 and the bottom side plates 14 can be made of the same metal plate by cutting and stamping processes, and the two reinforcing angle plates 15 are welded and installed between the horizontal plate and the vertical plate of the bottom limit plate 17.

[0028] In this embodiment, front frame upper connecting plates 18 are provided on both sides of the top of the front connecting frame 12, and front frame lower connecting plates 19 are provided on both sides of the bottom, and rear frame upper connecting plates 21 are provided on both sides of the top of the rear connecting frame 11, and rear frame lower connecting plates 20 are provided on both sides of the bottom. The front connecting frame 12 and the rear connecting frame 11 have the same structure, and are each made of the same metal plate by cutting and stamping processes.

[0029] like Figure 1 and Figure 2 As shown in the figure, the top front connecting plate 8 is hingedly connected to the front frame upper connecting plate 18 by the top front connecting shaft 7, the top rear connecting plate 1 is hingedly connected to the rear frame upper connecting plate 21 by the top rear connecting shaft 4, the front part of the bottom side plate 14 is hingedly connected to the front frame lower connecting plate 19 by the bottom front connecting shaft 16, and the rear part of the bottom side plate 14 is hingedly connected to the rear frame lower connecting plate 20 by the bottom rear connecting shaft 13. In this embodiment, the top front connecting shaft 7, the top rear connecting shaft 1, the bottom front connecting shaft 16 and the bottom rear connecting shaft 13 are all long bolts.

[0030] In this embodiment, two torsion springs 10 are provided and installed on the top front connecting shaft 7, and the torsion springs 10 are located between the top mounting plate 3 and the front connecting frame 12. The two torsion springs 10 are each limited by a clamping ring 9 installed on the top front connecting shaft 7 to prevent the torsion springs 10 from shifting during the deformation of the four-bar structure.

[0031] Application:

[0032] The installation method of this limit buffer and the dynamic process of deformation refer to Figure 3 and Figure 4 It can be seen that the limit buffer is installed on the track 22 and on the side where the track robot 23 is located. Figure 3The track robot 23 shown in the figure is in the form of a hanging robot, that is, the track robot 23 is located below the track 22, so the limit buffer is installed at the bottom of the track 22, the first side connecting plate 2 and the second side connecting plate 6 are directly fixedly connected to the track 22 by mounting bolts 5, and the contact surface between the bottom limit plate 17 and the limit switch should face the side where the track robot 23 is traveling;

[0033] When the track robot 23 moves along the track 22 to the installation position of the limit buffer, the limit switch (usually a proximity switch) located at the front of the track robot 23 contacts the vertical plate of the bottom limit plate 17, and the limit switch generates a limit signal to the controller of the track robot 23. The controller sends a stop instruction to the walking mechanism. Before completely stopping, the track robot 23 will move forward a certain distance along the track 22. During this process, the limit buffer of the four-bar structure is deformed by the extrusion, and the torsion spring 10 is further compressed and stored. During this process, the bottom limit plate 17 always maintains continuous and reliable contact with the limit switch to ensure the generation of a continuous and stable limit signal; after the track robot 23 leaves, the extrusion effect on the limit buffer disappears, and under the action of the reset elastic force provided by the torsion spring 10, the limit buffer returns to its initial posture.

Claims

1. A track robot limit buffer, characterized by: The invention comprises a top mounting plate (3) fixedly connected to a track (22) and a bottom limit plate (17) for triggering a limit switch on a track robot (23); a front connecting frame (12) is provided between the front parts of the top mounting plate (3) and the bottom limit plate (17), and a rear connecting frame (11) is provided between the rear parts; the top and bottom of the front connecting frame (12) are respectively hingedly connected to the front parts of the top mounting plate (3) and the bottom limit plate (17); the top and bottom of the rear connecting frame (11) are respectively hingedly connected to the rear parts of the top mounting plate (3) and the bottom limit plate (17); the top mounting plate (3), the bottom limit plate (17), the front connecting frame (12) and the rear connecting frame (11) form a four-bar structure; and the invention also comprises a torsion spring (10) that provides elastic force for the four-bar structure.

2. The track robot limit buffer as claimed in claim 1, characterized in that: The top mounting plate (3) is provided with a top front connecting plate (8) bent downward on both sides of the front part, and a top rear connecting plate (1) bent downward on both sides of the rear part; the bottom limit plate (17) is an L-shaped folded plate, the front elevation of the vertical plate is the contact surface for triggering the limit switch on the track robot (23), and the bottom side plates (14) bent upward are provided on both sides of the horizontal plate of the bottom limit plate (17).

3. The track robot limit buffer as claimed in claim 2, characterized in that: Front frame upper connecting plates (18) are provided on both sides of the top of the front connecting frame (12), and front frame lower connecting plates (19) are provided on both sides of the bottom; rear frame upper connecting plates (21) are provided on both sides of the top of the rear connecting frame (11), and rear frame lower connecting plates (20) are provided on both sides of the bottom.

4. The track robot limit buffer as claimed in claim 3, characterized in that: The top front connecting plate (8) is hingedly connected to the front frame upper connecting plate (18) by means of a top front connecting shaft (7), the top rear connecting plate (1) is hingedly connected to the rear frame upper connecting plate (21) by means of a top rear connecting shaft (4), the front part of the bottom side plate (14) is hingedly connected to the front frame lower connecting plate (19) by means of a bottom front connecting shaft (16), and the rear part of the bottom side plate (14) is hingedly connected to the rear frame lower connecting plate (20) by means of a bottom rear connecting shaft (13).

5. The track robot limit buffer according to claim 4, characterized in that: Two torsion springs (10) are provided and installed on the top front connecting shaft (7) and are limited by a clamping ring (9) installed on the top front connecting shaft (7). The torsion springs (10) are located between the top mounting plate (3) and the front connecting frame (12).

6. The track robot limit buffer as claimed in claim 5, characterized in that: A first side connecting plate (2) and a second side connecting plate (6) with mounting holes are respectively provided on both sides of the middle of the top mounting plate (3); the first side connecting plate (2) and the second side connecting plate (6) are fixedly connected to the rail (22) by means of mounting bolts (5) located in the mounting holes.

7. The track robot limit buffer according to claim 6, characterized in that: Two left and right reinforcing angle plates (15) are installed between the horizontal plate and the vertical plate of the bottom limiting plate (17).

8. The track robot limit buffer according to claim 7, characterized in that: The top front connecting shaft (7), the top rear connecting shaft (4), the bottom front connecting shaft (16) and the bottom rear connecting shaft (13) are all long bolts.

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