Structure of rail hanging robot

Abstract

The utility model belongs to the technical field of rail-mounted robots, particularly relates to a structure of a rail-mounted robot, aims to solve the problem that when goods are carried and the rail-mounted robot is full of goods and walks to a corner, turning is possibly inflexible, and provides the following scheme that the rail-mounted robot comprises a truck frame; the left end of the truck frame is fixedly connected with a first fixing block, the right end of the truck frame is fixedly connected with a second fixing block, a first bearing is rotationally installed above the first fixing block, a second bearing is rotationally installed above the second fixing block, and a first limiting block is fixedly installed above the first bearing. The first bearing is rotationally installed above the first fixing block to ensure that the front part can flexibly rotate during turning, the second bearing is rotationally installed above the second fixing block to ensure that the rear part can flexibly rotate at the turning position, and through the design of the auxiliary steering wheel, the steering effect of the steering wheel is greatly improved. And the rail hanging robot can be more flexible during turning.

Description

Technical Field

[0001] The utility model relates to a structure of a rail-hanging robot, in particular to a structure of a rail-hanging robot, and belongs to the technical field of rail-hanging robots. Background Art

[0002] With the rapid development of automation technology, rail-mounted robots are increasingly used in industrial automation, material handling, warehouse management and other fields. Rail-mounted robots usually move along preset tracks to perform various tasks such as material transportation, assembly, and inspection.

[0003] At present, whether the movement of the robot on the track is smooth, stable and accurate depends on the design quality of the robot's walking mechanism. The design of the robot's walking mechanism should include the shape design of the track and the matching design of the walking frame and the track. Both are indispensable, because only when the walking frame and the track are closely and reasonably matched can the robot move perfectly on the track.

[0004] The announcement number is CN220660854U, which is a rail-mounted robot walking mechanism, including a track and a walking frame. The track has an X-shaped track surface, which can be divided into a pair of upper inclined track surfaces and a pair of lower inclined track surfaces according to the upper and lower positions. The rail-mounted robot walking mechanism has a simple structure and a sophisticated design. Its walking frame is closely matched with the track, and the walking frame is firmly hung on the track, and the walking is smooth, stable and reliable.

[0005] In the above technical solution, the traveling frame is closely matched with the track, so that the traveling frame is firmly hung on the track and moves smoothly. However, when transporting goods, when the track-hanging robot is fully loaded with goods and walks to a turning corner, it may cause inflexible turning. For this reason, we provide a structure of a track-hanging robot. Utility Model Content

[0006] The utility model provides a structure of a rail-hanging robot to solve the problem that when the rail-hanging robot is fully loaded with goods and walks to a corner during transportation, the robot may be inflexible in turning.

[0007] The utility model achieves the above-mentioned purpose through the following technical solutions: a structure of a rail-hanging robot, including a cargo frame, a first fixed block is fixedly connected to the left end of the cargo frame, a second fixed block is fixedly connected to the right end of the cargo frame, a first bearing is rotatably installed above the first fixed block, and a second bearing is rotatably installed above the second fixed block;

[0008] A first limit block is fixedly installed above the first bearing, a second limit block is fixedly installed above the second bearing, an auxiliary steering wheel is rotatably installed on the top of the upper ends of the first limit block and the second limit block, and a running wheel is rotatably installed behind the upper ends of the first limit block and the second limit block, and a hanging rail is tightly fitted below the running wheel, and the hanging rail is located directly above the truck frame.

[0009] As a further solution of the utility model: a first shock absorbing mechanism is fixedly installed on the left end of the first limit block, and a second shock absorbing mechanism is fixedly installed on the right end of the second limit block. Passive wheels are rotatably installed inside the first limit block and the second limit block, and a rotating structure is formed between the walking wheel and the passive wheel.

[0010] As a further solution of the utility model: a first support frame is fixedly installed on the outer wall surface of the right end of the first limit block, and a second support frame is fixedly installed on the outer wall of the left end of the second limit block.

[0011] As a further solution of the utility model: a first gear box is fixedly installed at the rear of the first support frame, and a second gear box is fixedly installed at the rear of the second support frame.

[0012] As a further solution of the utility model: the first drive motor is fixedly installed on the right end of the first gear box, and the second drive motor is fixedly installed on the left end of the second gear box.

[0013] As a further solution of the utility model: driving wheels are rotatably mounted on the front outer walls of the first support frame and the second support frame, and a connecting shaft is arranged inside the driving wheels.

[0014] As a further solution of the utility model: a transmission belt is sleeved on the outer periphery of the active rotating wheel, and the other end of the transmission belt is sleeved on the outer periphery of the passive rotating wheel.

[0015] The beneficial effects of the utility model are:

[0016] The first bearing of the utility model is rotatably mounted above the first fixed block, ensuring that the front part can flexibly rotate when turning, and the second bearing is rotatably mounted above the second fixed block, ensuring that the rear part can flexibly rotate at the turning point. The design of the auxiliary steering wheel makes the rail-hanging robot more flexible when turning, and the driving power of the rail-hanging robot can be increased by the first drive motor and the second drive motor, thereby increasing the load of the rail-hanging robot and facilitating the use of users;

[0017] The utility model discloses a first fixing block and a second fixing block are fixedly connected at the left and right ends of the truck frame, and are used for installing and supporting the moving parts at the left and right ends. Through the cooperation of the transmission belt and the active rotating wheel and the passive rotating wheel, the effective transmission of power is realized, and the stable rotation of the walking wheel is ensured. The rotation connection between the passive rotating wheel and the walking wheel further drives the walking wheel to walk. The provision of the first shock absorbing mechanism and the second shock absorbing mechanism effectively reduces the vibration of the robot during walking and improves the stability of operation. The hanging rail is located directly above the truck frame to provide a track for the robot to walk. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the upper plane structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the front structure of the utility model;

[0021] Figure 4 It is a side structural schematic diagram of the utility model.

[0022] In the figure: 1. cargo frame; 2. first fixed block; 3. second fixed block; 4. first bearing; 5. second bearing; 6. first limit block; 7. second limit block; 8. passive rotating wheel; 9. first supporting frame; 10. second supporting frame; 11. first gear box; 12. second gear box; 13. first driving motor; 14. second driving motor; 15. transmission belt; 16. active rotating wheel; 17. auxiliary steering wheel; 18. walking wheel; 19. hanging rail; 20. first shock absorbing mechanism; 21. second shock absorbing mechanism. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Embodiment 1, as Figures 1 to 4As shown, a structure of a rail-hanging robot includes a cargo frame 1, a first fixing block 2 is fixedly connected to the left end of the cargo frame 1, a second fixing block 3 is fixedly connected to the right end of the cargo frame 1, the first fixing block 2 and the second fixing block 3 are fixedly connected to the left and right ends of the cargo frame 1, and are used to install and support the moving parts at the left and right ends, a first bearing 4 is rotatably installed above the first fixing block 2, and the first bearing 4 is rotatably installed above the first fixing block 2 to ensure that the front part can rotate flexibly when turning, and a second bearing 5 is rotatably installed above the second fixing block 3, and the second bearing 5 is rotatably installed above the second fixing block 3 to ensure that the rear part It can rotate flexibly at the turning point, a first limit block 6 is fixedly installed above the first bearing 4, a second limit block 7 is fixedly installed above the second bearing 5, an auxiliary steering wheel 17 is rotatably installed on the top of the upper end of the first limit block 6 and the second limit block 7. Through the design of the auxiliary steering wheel 17, the rail-mounted robot can be more flexible when turning, reducing the problem of inflexible turning, a walking wheel 18 is rotatably installed behind the upper end of the first limit block 6 and the second limit block 7, and a hanging rail 19 is tightly fitted under the walking wheel 18, and the hanging rail 19 is located directly above the truck frame 1. The hanging rail 19 is directly above the truck frame 1 and can provide a track for the robot to walk.

[0025] Embodiment 2. In addition to all the technical features of Embodiment 1, this embodiment also includes: a first shock absorbing mechanism 20 is fixedly installed on the left end of the first limit block 6, and a second shock absorbing mechanism 21 is fixedly installed on the right end of the second limit block 7. The arrangement of the first shock absorbing mechanism 20 and the second shock absorbing mechanism 21 effectively reduces the vibration of the robot during walking and improves the stability of operation. The first limit block 6 and the second limit block 7 are both rotatably installed with a passive rotating wheel 8 inside, and a rotating structure is formed between the walking wheel 18 and the passive rotating wheel 8. A first supporting frame 9 is fixedly installed on the outer wall surface of the right end of the first limit block 6, and a second supporting frame 10 is fixedly installed on the outer wall surface of the left end of the second limit block 7. A first gear box 11 is fixedly installed at the rear of the support frame 9, a second gear box 12 is fixedly installed at the rear of the second support frame 10, a first drive motor 13 is fixedly installed at the right end of the first gear box 11, and a second drive motor 14 is fixedly installed at the left end of the second gear box 12. A driving wheel 16 is rotatably installed on the front outer walls of the first support frame 9 and the second support frame 10, a connecting shaft is provided inside the driving wheel 16, a transmission belt 15 is sleeved on the outer periphery of the driving wheel 16, and the other end of the transmission belt 15 is sleeved on the outer periphery of the passive wheel 8. Through the cooperation of the transmission belt 15, the driving wheel 16 and the passive wheel 8, effective power transmission is achieved, ensuring the stable rotation of the walking wheel 18.

[0026] First, when the rail-hanging robot needs to move, the first drive motor 13 and the second drive motor 14 start to work. These two motors drive the first gear box 11 and the second gear box 12 respectively. Since the first gear box 11 and the second gear box 12 are designed with two sets of bevel gears meshing with each other to change the transmission direction, during operation, the first drive motor 13 and the second drive motor 14 output ends respectively drive one of the bevel gears in the first gear box 11 and the second gear box 12 to rotate, and the rotating teeth of the bevel gears drive the other bevel gear to rotate, and the bevel gears drive the connecting shaft to rotate, so that the active wheel 16 starts to rotate. With the rotation of the active wheel 16, the transmission belt 15 sleeved on the outer periphery of the active wheel 16 and the passive wheel 8 starts to transmit power. Due to the continuity and elasticity of the transmission belt 15, it can ensure that the power is smoothly transmitted from the active wheel 16 to the passive wheel 8;

[0027] Secondly, the first fixing block 2 and the second fixing block 3 fixedly connected at both ends of the truck frame 1 can effectively support the first bearing 4 and the second bearing 5, so as to facilitate rotation when turning, and the first support frame 9 and the second support frame 10 fixed by the first limit block 6 and the second limit block 7 can effectively support the first drive motor 13 and the second drive motor 14, so as to facilitate driving the first gear box 11 and the second gear box 12;

[0028] Then, the passive rotating wheel 8 starts to rotate after receiving the power from the transmission belt 15. Since the running wheel 18 and the passive rotating wheel 8 form a rotating structure, the running wheel 18 also rotates accordingly. The running wheel 18 fits tightly with the hanging rail 19. Therefore, when the running wheel 18 rotates, the hanging rail robot can move on the hanging rail 19.

[0029] Finally, when the rail-mounted robot turns, due to the rotating installation design of the first bearing 4 and the second bearing 5, the front and rear parts of the robot can rotate relatively independently, which makes the robot more flexible when turning. At the same time, the design of the auxiliary steering wheel 17 further enhances the flexibility of the robot when turning. In addition, since the first shock absorbing mechanism 20 and the second shock absorbing mechanism 21 are both provided with springs and support rods passed through the springs, the two ends of the support rod on the first shock absorbing mechanism 20 are respectively connected, and the two ends of the support rod on the second shock absorbing mechanism 21 are respectively connected, so the setting of the first shock absorbing mechanism 20 and the second shock absorbing mechanism 21 can effectively reduce the vibration of the robot during walking and improve the stability of operation.

[0030] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0031] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A structure of a rail-mounted robot, comprising a cargo frame (1), characterized in that: A first fixing block (2) is fixedly connected to the left end of the cargo frame (1), a second fixing block (3) is fixedly connected to the right end of the cargo frame (1), a first bearing (4) is rotatably mounted above the first fixing block (2), and a second bearing (5) is rotatably mounted above the second fixing block (3); A first limit block (6) is fixedly mounted above the first bearing (4), a second limit block (7) is fixedly mounted above the second bearing (5), an auxiliary steering wheel (17) is rotatably mounted on the top of the upper ends of the first limit block (6) and the second limit block (7), and a walking wheel (18) is rotatably mounted behind the upper ends of the first limit block (6) and the second limit block (7).

2. The structure of a rail-hanging robot according to claim 1, characterized in that: A first shock absorbing mechanism (20) is fixedly mounted on the left end of the first limit block (6), and a second shock absorbing mechanism (21) is fixedly mounted on the right end of the second limit block (7). Passive rotating wheels (8) are rotatably mounted inside the first limit block (6) and the second limit block (7). A hanging rail (19) is tightly fitted below the running wheel (18). The hanging rail (19) is located directly above the truck frame (1), and a rotating structure is formed between the running wheel (18) and the passive rotating wheel (8).

3. The structure of a rail-hanging robot according to claim 2, characterized in that: A first support frame (9) is fixedly mounted on the outer wall surface of the right end of the first limit block (6), and a second support frame (10) is fixedly mounted on the outer wall of the left end of the second limit block (7).

4. The structure of a rail-hanging robot according to claim 3, characterized in that: A first gear box (11) is fixedly mounted on the rear of the first support frame (9), and a second gear box (12) is fixedly mounted on the rear of the second support frame (10).

5. The structure of a rail-hanging robot according to claim 4, characterized in that: A first drive motor (13) is fixedly mounted on the right end of the first gear box (11), and a second drive motor (14) is fixedly mounted on the left end of the second gear box (12).

6. The structure of a rail-hanging robot according to claim 4, characterized in that: A driving wheel (16) is rotatably mounted on the front outer walls of the first support frame (9) and the second support frame (10), and a connecting shaft is arranged inside the driving wheel (16).

7. The structure of a rail-hanging robot according to claim 6, characterized in that: A transmission belt (15) is sleeved on the outer circumference of the active rotating wheel (16), and the other end of the transmission belt (15) is sleeved on the outer circumference of the passive rotating wheel (8).

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