Hanging type robot limiting structure
The position of the mounted robot is restricted by mechanical limiters and drive devices, which solves the problem of robot slipping, improves safety and reliability, and facilitates maintenance.
Patent Information
- Application Number
- CN202423032998.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-10
- Publication Date
- 2025-10-21
- Estimated Expiration
- 2034-12-10
AI Technical Summary
Existing mounted robots are prone to slipping or moving on their own when the motor fails or the software control is improper, posing a safety hazard for maintenance.
A mechanical limiter is used to limit the position of the robot on the track through a limit arm and a drive device. The motor drives the limit arm to rotate to different positions to achieve or release the limit. The combination of photoelectric limit switches and mechanical limit structures ensures reliability.
It effectively prevents the robot from slipping or sliding in the event of a fault, reducing safety risks. At the same time, it ensures the normal operation of the robot when no limit is required. The structure is simple and easy to maintain.
Smart Images
Figure CN223456002U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of robot, especially a kind of mounting type robot limiting structure. BACKGROUND
[0002] Mounting type robot is applied in indoor (for example factory building etc.) ceiling, tunnel inner top wall and other application scenarios, is hung on the fixed track of top, and walks along track one kind of robot, for example, tunnel or factory building's inspection robot, tunnel's fire-fighting robot etc.
[0003] Taking inspection robot as an example, it can provide safer, more efficient and accurate inspection service, save time and labor cost for enterprise user, and has become indispensable intelligent equipment in many industries.In the field of transportation, inspection robot is often used for the inspection of tunnel section.
[0004] Generally, walking track needs to be set on the top of tunnel, and mounting type robot walks on walking track and executes corresponding function.In actual use, mounting type robot needs to be limited frequently, for example, robot maintenance etc.
[0005] The usual practice of prior art is to realize that robot is fixed on track by motor lock shaft function, which is convenient for personnel to check and maintain.But when robot motor fails or software control is improper, robot will slip or move automatically, which causes safety hazard to maintenance work. INVENTION CONTENTS
[0006] The utility model provides a kind of mounting type robot limiting structure, it is simple in structure, easy to maintain, high reliability.
[0007] The utility model provides technical scheme as follows:
[0008] A kind of mounting type robot limiting structure, including track, the track includes the wallboard being arranged vertically and the tread plate being located at the bottom end of the wallboard and being arranged transversely, the wallboard and the tread plate are integrally inverted T character, the top surface of the tread plate forms symmetrical walking tread on the two sides of the wallboard;
[0009] Limiting device is set on the track in limiting position, the limiting device is installed at the top end of the wallboard, the limiting device includes limiting arm, the limiting arm is located at the side of the wallboard, the limiting arm is connected with driving device, the driving device can drive the limiting arm to move to first position and second position;
[0010] When being located at the first position, the bottom end of the limiting arm is higher than the top end of mounting type robot, when being located at the second position, the bottom end of the limiting arm is lower than the top end of mounting type robot.
[0011] Further, the driving device comprises a motor, and the limiting arm rotates along an axis perpendicular to the side surface of the wallboard under the driving of the motor.
[0012] Further, the number of the limiting arms is two, and the two limiting arms are respectively located on two sides of the wallboard.
[0013] Further, the motor is connected with a worm gear mechanism, and an output shaft of the worm gear mechanism is connected with the limiting arm.
[0014] Further, the limiter further comprises a shell, the motor and the limiting arm are arranged on the shell, and the worm gear mechanism is arranged in the shell.
[0015] Further, the shell is provided with a first photoelectric limiting switch and a second photoelectric limiting switch for limiting the limiting arm in the first position and the second position, the limiting arm is provided with a trigger protrusion for triggering the first photoelectric limiting switch and the second photoelectric limiting switch, and the first photoelectric limiting switch and the second photoelectric limiting switch have an inner recess structure matched with the trigger protrusion.
[0016] Further, the shell is provided with a first limiting structure and a second limiting structure for limiting the limiting arm in the first position and the second position, and the front and back two surfaces of the limiting arm in the rotating direction are matched with the first limiting structure and the second limiting structure for limiting.
[0017] Further, the top end of the wallboard is provided with a mounting profile, and the shell of the limiter is mounted on the mounting profile.
[0018] Further, the side surface of the mounting profile is provided with a groove extending along the length direction of the track, the groove is provided with a preset nut capable of moving along the groove, and the bottom end of the shell of the limiter is fastened and connected to the preset nut through a screw.
[0019] Further, the limiting arm is provided with a buffer block, and the buffer block faces one side of the mounted robot when the limiting arm is located at the second position.
[0020] The utility model has the following beneficial effects:
[0021] The mounted robot limiting structure has the characteristics of simple structure, convenient maintenance and high reliability, can effectively prevent the robot from being out of control and sliding or sliding when limiting is needed, reduce the safety risk, and ensure the normal operation of the robot when limiting is not needed. BRIEF DESCRIPTION OF DRAWINGS
[0022] Figure 1The utility model discloses a whole schematic view of the mounting type robot limiting structure.
[0023] Figure 2 It is the schematic view of the limiter.
[0024] Figure 3 It is the schematic view of the limiting arm in the first position.
[0025] Figure 4 It is the schematic view of the limiting arm in the second position. DETAILED DESCRIPTION
[0026] In order to make the technical problem, technical scheme and advantage that the utility model wants to solve more clearly, below will combine the drawing and specific embodiment and carry out the detailed description.
[0027] The utility model provides a mounting type robot limiting structure, as shown in the drawing, Figures 1-4 Including track 1, track 1 includes the wallboard 101 set up vertically and the tread plate 102 located at the bottom end of wallboard 101 and set up horizontally, and the wallboard 101 and tread plate 102 whole inverted T letter shape is formed, and the top surface of tread plate 102 forms the symmetrical walking tread 103 on the both sides of wallboard 101.
[0028] The limiter 2 is arranged on track 1 in the limiting position, and the limiter 2 is installed at the top end of wallboard 101, and the limiter 2 includes the limiting arm 201, and the limiting arm 201 is located at the side of wallboard 101, and the limiting arm 201 is connected with the driving device 202, and the driving device 202 can drive the limiting arm 201 to move to the first position and the second position.
[0029] When being located at the first position, the bottom end of limiting arm 201 is higher than the top end of mounting type robot, and when being located at the second position, the bottom end of limiting arm 201 is lower than the top end of mounting type robot.
[0030] The utility model adopts the mechanical limiter to limit the position of mounting type robot, for example, one limiter can be installed at the specific position on track, can realize the limitation in one direction of mounting type robot, again for example, two limiters can be installed, can limit mounting type robot between two limiters, again for example, multiple limiters can be arranged, can realize the limitation of multiple positions of mounting type robot.The mechanical limiter is simple in structure and high in reliability, when the robot motor appears the fault or software control is improper, can effectively prevent the robot from slipping or moving automatically, can effectively reduce the security risk when the robot is overhauled.
[0031] When the limiting is not needed, in order to prevent the limiting device from affecting the normal operation of the mounted robot, the limiting arm is arranged in a movable manner, when the limiting arm moves to the first position, the bottom end is higher than the top end of the mounted robot, and the robot is no longer limited, and can be normally operated, when the limiting arm moves to the second position, the bottom end is lower than the top end of the mounted robot, and the limiting of the robot is formed.
[0032] As can be seen from the above, the mounted robot limiting structure has the characteristics of simple structure, convenient maintenance and high reliability, can effectively prevent the robot from being out of control and sliding when limiting is needed, and can ensure the normal operation of the robot when limiting is not needed.
[0033] As an improvement of the utility model, the aforementioned drive device 202 includes a motor 203, and the limiting arm 201 rotates along an axis perpendicular to the side surface of the wall plate 101 under the drive of the motor 203. When rotating to the second position, the robot is limited, and when rotating to the first position, the robot is not limited.
[0034] As a preferred, the number of limiting arms 202 is two, and the two limiting arms are symmetrically arranged on the two sides of the wall plate 201.
[0035] The motor 203 can be connected with a worm gear mechanism, and the output shaft 204 of the worm gear mechanism is connected with the limiting arm 201.
[0036] The limiting device 2 of the utility model further includes a shell 205, the motor 203 and the limiting arm 201 are arranged on the shell 205, and the worm gear mechanism is arranged in the shell 205.
[0037] In the utility model, the first position and the second position of the limiting arm 201 can be limited by various limiting modes, and several examples are given below:
[0038] Example one:
[0039] This example limits by the mode of photoelectric switch, the shell 205 is provided with the first photoelectric limiting switch 206 and the second photoelectric limiting switch 207 for limiting the limiting arm 201 in the first position and the second position, the limiting arm 201 is provided with the trigger protrusion 208 for triggering the first photoelectric limiting switch 206 and the second photoelectric limiting switch 207, and the first photoelectric limiting switch 206 and the second photoelectric limiting switch 207 have the inner recess structure 209 matched with the trigger protrusion 208.
[0040] The first photoelectric limit switch 206 and the second photoelectric limit switch 207 indicate the motor 203 stop position, when the trigger protrusion 208 rotates into the inner recess structure 209 of the first photoelectric limit switch 206, the first photoelectric limit switch 206 is triggered, the motor 203 stops, and the limit arm stops at the first position, when the trigger protrusion 208 rotates into the inner recess structure 209 of the second photoelectric limit switch 207, the second photoelectric limit switch 207 is triggered, the motor 203 stops, and the limit arm stops at the second position.
[0041] Example two:
[0042] This example limits by mechanical structure, the shell 205 is provided with the first limit structure 210 and the second limit structure 211 for limiting the limit arm 201 in the first position and the second position, and the front and rear faces of the limit arm 201 in the rotation direction are matched with the first limit structure 210 and the second limit structure 211 for limiting.
[0043] Specifically, the first limit structure 210 can be a rod-shaped limit structure, and the second limit structure 211 can be a block-shaped limit structure.
[0044] Example three:
[0045] This example limits by the combination of example one and example two.
[0046] As an improvement of an embodiment of the utility model, the wallboard 101 top is provided with the installation section bar 212, for example, is aluminum section bar. The shell 205 of the limit ware 2 is installed on the installation section bar 212.
[0047] Specifically, the side surface of the installation section bar 212 is provided with the groove 213 extending along the length direction of the track 1, the preset nut 214 capable of moving along the groove 213 is arranged in the groove 213, and the bottom end of the shell 205 of the limit ware 2 is fastened and connected to the preset nut 214 through the screw 215.
[0048] When installing, the preset nut 214 can be moved to the specified position first, and then the limit ware 2 is fastened through the screw 215.
[0049] The utility model can be provided with the buffer block 216 on the limit arm 201, and the setting position of the buffer block 216 is when the limit arm 201 is located at the second position, the buffer block 216 is towards the side of the mounted robot.
[0050] The buffer block 216 is flexible contact, which can avoid damaging the robot body structure. For example, the buffer block can be a block body of nylon material, which is arranged on the limit arm 201 by screwing or gluing.
[0051] The above is the preferred embodiment of the present application, it should be noted that, for those skilled in the technical field, without departing from the principles described in the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the scope of the present application.
Claims
1. A mounting robot limiting structure, characterized by, The track comprises a vertically arranged wall plate and a transversely arranged tread plate at the bottom end of the wall plate, the wall plate and the tread plate form a whole inverted T shape, and the top surface of the tread plate forms symmetrical walking treads on both sides of the wall plate; A limiter is arranged at a limiting position on the track, the limiter is installed at the top end of the wall plate, the limiter comprises a limiting arm, the limiting arm is located at the side of the wall plate, the limiting arm is connected with a driving device, and the driving device can drive the limiting arm to move to a first position and a second position; When located at the first position, the bottom end of the limiting arm is higher than the top end of the mounted robot, and when located at the second position, the bottom end of the limiting arm is lower than the top end of the mounted robot.
2. The mount robot limit structure of claim 1, wherein, The driving device comprises a motor, and the limiting arm rotates along an axis perpendicular to the side of the wall plate under the drive of the motor.
3. The mountable robot containment structure of claim 2, wherein, The number of limiting arms is two, and the two limiting arms are located at the two sides of the wall plate respectively.
4. The mountable robot containment structure of claim 2, wherein, The motor is connected with a worm gear mechanism, and an output shaft of the worm gear mechanism is connected with the limiting arm.
5. The mountable robot containment structure of claim 4, wherein, The limiter further comprises a housing, the motor and the limiting arm are arranged on the housing, and the worm gear mechanism is arranged in the housing.
6. The mountable robot containment structure of claim 5, wherein, First and second photoelectric limiting switches are arranged on the housing to limit the limiting arm at the first position and the second position, a triggering protrusion is arranged on the limiting arm to trigger the first and second photoelectric limiting switches, and the first and second photoelectric limiting switches have concave structures matched with the triggering protrusion.
7. The mountable robot containment structure of claim 5, wherein, First and second limiting structures are arranged on the housing to limit the limiting arm at the first position and the second position, and the front and rear surfaces of the limiting arm in the rotating direction are matched with the first and second limiting structures for limiting.
8. The mountable robot containment structure of claim 5, wherein, An installation profile is arranged at the top end of the wall plate, and the housing of the limiter is installed on the installation profile.
9. The mountable robot containment structure of claim 8, wherein, A groove extending along the length direction of the track is formed in the side surface of the installation profile, a preset nut capable of moving along the groove is arranged in the groove, and the bottom end of the housing of the limiter is fastened and connected to the preset nut through a screw.
10. The mountable robot containment structure of any of claims 1-9, wherein, A buffer block is arranged on the limiting arm, and the buffer block faces one side of the mounted robot when the limiting arm is located at the second position.