Robot ground rail mechanical stopping structure

Abstract

The utility model discloses a robot ground rail mechanical stopping structure which comprises a ground rail body, one end of the ground rail body is fixedly connected with a transmission shell, screw rods are arranged in grooves in the two outer side faces of the ground rail body, one end of each screw rod penetrates into the transmission shell to be fixedly connected with a driven rotating wheel, and the screw rods are in threaded connection with moving blocks in the axial direction. One side of the moving block penetrates out of the ground rail body, and the surface, located outside the ground rail body, of the moving block is fixedly connected with a stopping assembly; a rolling bearing is fixedly installed on one side of the inner wall of the transmission shell, a rotating rod is rotationally connected into the rolling bearing, and one end of the rotating rod penetrates out of the rolling bearing to be fixedly connected with a driving rotating wheel. The mechanical stopping structure for the robot ground rail is reasonable in design and convenient to use, the stopping position can be effectively adjusted according to actual use requirements, the corresponding structure can be contracted and stored when stopping is not needed, and the mechanical stopping structure has high practicability and a wide application range.

Description

Technical Field

[0001] The utility model relates to the technical field of stop equipment, in particular to a robot ground rail mechanical stop structure. Background Art

[0002] The motion travel protection system of the robot ground rail includes: soft limit of motion control degree, hard limit of travel switch, and mechanical stop mechanism. When the robot moves on the ground rail slide along the ground rail, it is generally driven and braked by a motor. When a current in one direction is applied to the motor, the motor drives the robot to move in one direction. When it needs to stop, a current in the opposite direction is applied to the motor, and the motor generates a reaction force to stop the motor. However, in some cases, the soft limit of the motion control program is wrong, and the travel switch fails at the same time. At this time, the moving ground rail slide can only be stopped by the mechanical stop mechanism. This prevents the ground rail slide from rushing out of the ground rail and causing serious accidents.

[0003] Patent document CN202220932428.X discloses "a robot ground rail mechanical stopping structure", which includes a ground rail base, a ground rail fixed on the ground rail base, a ground rail slide capable of sliding on the ground rail, and a mechanical stopping device. The sliding block can slide along the mounting seat under the action of external force, and the heat generated during sliding can offset the energy of the external force impact.

[0004] This patent cannot effectively adjust the stop position during use, and the stop structure cannot be retracted and stored when the stop is not needed. Therefore, there are limitations in use and it is difficult to fully meet the use needs. For this reason, we propose a robot ground rail mechanical stop structure to solve the problems raised in the above background technology. Utility Model Content

[0005] The purpose of the utility model is to provide a robot floor rail mechanical stop structure to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot ground rail mechanical stop structure, comprising a ground rail body, one end of the ground rail body is fixedly connected to a transmission shell, screws are arranged in grooves on two outer sides of the ground rail body, one end of the screw passes through the transmission shell and is fixedly connected to a driven rotating wheel, a moving block is axially threadedly connected to the screw, one side of the moving block passes through the outside of the ground rail body, and a stop assembly is fixedly connected to the surface of the moving block outside the ground rail body;

[0007] A rolling bearing is fixedly installed on one side of the inner wall of the transmission housing, a rotating rod is rotatably connected inside the rolling bearing, one end of the rotating rod passes through the outside of the rolling bearing and is fixedly connected to a driving wheel, the driving wheel and two driven wheels are connected via a belt transmission, a driven bevel gear is fixedly connected to the surface of the rotating rod, a driving motor is fixedly installed on the top of the transmission housing, and an output shaft of the driving motor passes through the inside of the transmission housing and is fixedly connected to a driving bevel gear that matches the driven bevel gear.

[0008] Furthermore, the stop assembly includes a mounting sleeve, which is fixedly connected to the surface of the moving block by bolts, a fixing frame is welded on the top of the mounting sleeve, a servo motor is fixedly installed on the top of the fixing frame, the output shaft of the servo motor passes through the inside of the fixing frame and is connected to a rotating support block, the side of the rotating support block away from the transmission housing is fixedly connected to a stop plate through a plurality of shock-absorbing springs, and a damper is fixedly installed between the rotating support block and the stop plate and on the inner side of the shock-absorbing spring.

[0009] Furthermore, a soft pad is fixedly connected to a side of the stop plate away from the rotating support block, and the soft pad is specifically a rubber pad.

[0010] Furthermore, a support rotating block is fixedly connected to the surface of the screw rod and at a position corresponding to the transmission housing, and the support rotating block is movably connected to the transmission housing.

[0011] Furthermore, an infrared ranging sensor is installed on one of the moving blocks, and a ranging substrate used in conjunction with the infrared ranging sensor is fixedly connected to a position on the outer side of the transmission housing corresponding to the infrared ranging sensor.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] The utility model discloses a robot ground rail mechanical stop structure, and the robot ground rail mechanical stop structure is provided with the support frame of the driving motor, and the support frame of the driving motor ... BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0015] Figure 2 It is a three-dimensional structural schematic diagram of the stop assembly of the utility model;

[0016] Figure 3 It is a structural cross-sectional view of the transmission housing of the utility model.

[0017] In the figure: 1 rail body, 2 transmission housing, 3 screw, 4 driven rotating wheel, 5 moving block, 6 stop assembly, 61 mounting sleeve, 62 bolt, 63 fixing frame, 64 servo motor, 65 rotating support block, 66 shock absorbing spring, 67 stop plate, 68 damper, 69 cushion, 7 rolling bearing, 8 rotating rod, 9 driving rotating wheel, 10 belt, 11 driven bevel gear, 12 driving motor, 13 driving bevel gear, 14 supporting rotating block, 15 infrared ranging sensor, 16 ranging substrate. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figure 1-3 A robot ground rail mechanical stopping structure comprises a ground rail body 1, one end of the ground rail body 1 is fixedly connected to a transmission housing 2, screws 3 are arranged in grooves on two outer sides of the ground rail body 1, one end of the screw 3 penetrates into the transmission housing 2 and is fixedly connected to a driven rotating wheel 4, a moving block 5 is axially threadedly connected to the screw 3, one side of the moving block 5 penetrates to the outside of the ground rail body 1, a limiting guide member adapted to the ground rail body 1 is installed on the moving block 5 to ensure that the moving block 5 can translate along the axial direction of the screw 3 under the threaded transmission, and a stopping assembly 6 is fixedly connected to the surface of the moving block 5 located outside the ground rail body 1.

[0020] A rolling bearing 7 is fixedly installed on one side of the inner wall of the transmission housing 2, and a rotating rod 8 is rotatably connected inside the rolling bearing 7. One end of the rotating rod 8 passes through the outside of the rolling bearing 7 and is fixedly connected to a driving wheel 9. The driving wheel 9 and the two driven wheels 4 are connected through a belt 10. A driven bevel gear 11 is fixedly connected to the surface of the rotating rod 8. A driving motor 12 is fixedly installed on the top of the transmission housing 2. The output shaft of the driving motor 12 passes through the inside of the transmission housing 2 and is fixedly connected to a driving bevel gear 13 that matches the driven bevel gear 11.

[0021] Specifically, the stopping component 6 includes an installation sleeve 61. The installation sleeve 61 is fixedly connected to the surface of the moving block 5 by bolts 62. A fixing frame 63 is welded to the top of the installation sleeve 61. A servo motor 64 is fixedly installed at the top of the fixing frame 63. The output shaft of the servo motor 64 penetrates into the interior of the fixing frame 63 and is connected to a rotating support block 65. The fixing frame 63 is specifically of a "C" - shaped structure, with an opening on one side for the rotating support block 65 to rotate through for use. On the side of the rotating support block 65 away from the transmission housing 2, a stopping plate 67 is fixedly connected through a number of shock - absorbing springs 66. A damper 68 is fixedly installed between the rotating support block 65 and the stopping plate 67 and inside the shock - absorbing springs 66.

[0022] Specifically, a soft pad 69 is fixedly connected to the side of the stopping plate 67 away from the rotating support block 65. The soft pad 69 is specifically a rubber pad, which can prevent the ground rail sliding table from directly hitting the stopping plate 67 and being damaged due to hard collision.

[0023] Specifically, a support rotating block 14 is fixedly connected to the surface of the screw rod 3 at a position corresponding to the transmission housing 2. The support rotating block 14 is movably connected to the transmission housing 2. The other end of the screw rod 3 can be supported by a bearing. Cooperating with the support rotating block 14 to realize the connection and support at both ends of the screw rod 3, effectively improving the smoothness during its rotation.

[0024] Specifically, an infrared distance sensor 15 is installed on one of the moving blocks 5. A distance - measuring substrate 16 that cooperates with the infrared distance sensor 15 is fixedly connected to the outer side of the transmission housing 2 corresponding to the infrared distance sensor 15. The infrared distance sensor 15, the servo motor 64, and the drive motor 12 are all electrically connected to the total control circuit. After determining the position where stopping is required, the total control circuit can control the drive motor 12 to start, so that the screw rod 3 drives to adjust the position of the moving block 5. After determining the stopping position by using the infrared distance sensor 15 and the distance - measuring substrate 16, the distance signal is transmitted to the total control circuit, and the power supply to the drive motor 12 is stopped, thereby realizing the fixation of the stopping component 6 and performing the stopping operation.

[0025] This mechanical stopping structure for the robot ground rail is reasonably designed and easy to use. It can effectively adjust the stopping position according to actual usage needs. And when stopping is not required, the corresponding structure can be retracted and stored, having high practicability and scope of application.

[0026] Working principle: when it is necessary to adjust the stop position, the driving motor 12 can be controlled to start, so that its output shaft drives the active bevel gear 13 to rotate, and the driven bevel gear 11 meshing therewith can drive the rotating rod 8 to rotate under the connection of the rolling bearing 7, so that the active rotating wheel 9 continues to rotate, and under the transmission of the two belts 10, the driven rotating wheel 4 can drive the screw rod 3 to rotate, and the moving block 5 threadedly connected thereto can drive the stop assembly 6 to move above the ground rail body 1, and the infrared ranging sensor 15 and the ranging substrate 16 are used to determine the stop position. When the ground rail slide moves to this place, it will hit the stop plate 67 and the soft pad 69, and the shock-absorbing spring 66 and the damper 68 will provide a certain buffering effect to achieve the stop. When there is no need to stop, it is only necessary to control the servo motor 64 to start, so that its output shaft drives the rotating support block 65 to rotate ninety degrees and store it inside the fixed frame 63, so as to ensure the smooth flow of the ground rail body 1.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot ground rail mechanical stop structure, comprising a ground rail body (1), characterized in that: One end of the ground rail body (1) is fixedly connected to a transmission housing (2), screws (3) are provided in grooves on two outer side surfaces of the ground rail body (1), one end of the screw (3) penetrates into the transmission housing (2) and is fixedly connected to a driven rotating wheel (4), a moving block (5) is axially threadedly connected to the screw (3), one side of the moving block (5) penetrates to the outside of the ground rail body (1), and a stop assembly (6) is fixedly connected to the surface of the moving block (5) located outside the ground rail body (1); A rolling bearing (7) is fixedly mounted on one side of the inner wall of the transmission housing (2); a rotating rod (8) is rotatably connected inside the rolling bearing (7); one end of the rotating rod (8) passes through the outside of the rolling bearing (7) and is fixedly connected to a driving wheel (9); the driving wheel (9) and two driven wheels (4) are connected by a belt (10); a driven bevel gear (11) is fixedly connected to the surface of the rotating rod (8); a driving motor (12) is fixedly mounted on the top of the transmission housing (2); an output shaft of the driving motor (12) passes through the inside of the transmission housing (2) and is fixedly connected to a driving bevel gear (13) matched with the driven bevel gear (11).

2. A robot ground rail mechanical stop structure according to claim 1, characterized in that: The stop assembly (6) comprises a mounting sleeve (61), wherein the mounting sleeve (61) is fixedly connected to the surface of the moving block (5) by means of bolts (62), a fixing frame (63) is welded to the top of the mounting sleeve (61), a servo motor (64) is fixedly installed to the top of the fixing frame (63), an output shaft of the servo motor (64) passes through the inside of the fixing frame (63) and is connected to a rotating support block (65), a side of the rotating support block (65) away from the transmission housing (2) is fixedly connected to a stop plate (67) by means of a plurality of damping springs (66), and a damper (68) is fixedly installed between the rotating support block (65) and the stop plate (67) and on the inner side of the damping spring (66).

3. A robot ground rail mechanical stop structure according to claim 2, characterized in that: A soft pad (69) is fixedly connected to one side of the stop plate (67) away from the rotating support block (65), and the soft pad (69) is specifically a rubber pad.

4. A robot ground rail mechanical stop structure according to claim 3, characterized in that: A support rotating block (14) is fixedly connected to the surface of the screw rod (3) at a position corresponding to the transmission housing (2), and the support rotating block (14) is movably connected to the transmission housing (2).

5. The robot ground rail mechanical stop structure according to claim 4, characterized in that: An infrared distance measuring sensor (15) is installed on one of the moving blocks (5), and a distance measuring substrate (16) for use with the infrared distance measuring sensor (15) is fixedly connected to the outer side of the transmission housing (2) at a position corresponding to the infrared distance measuring sensor (15).

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