Telescopic rail hanging robot
By combining the guide telescopic component and the telescopic power component, the problem of unstable suspension during the telescopic process of the rail-mounted robot is solved, ensuring the stability of the operating mechanism and the smooth operation, and improving the operating accuracy and efficiency.
Patent Information
- Application Number
- CN202520051418.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-09
- Publication Date
- 2026-02-06
- Estimated Expiration
- 2035-01-09
AI Technical Summary
In existing rail-mounted robots, the operating mechanism is prone to suspension instability after the scissor lift extends, resulting in decreased operating accuracy and efficiency. Furthermore, the movement of the walking mechanism can easily lead to operational errors, affecting the work results.
The system employs guide telescopic components and telescopic power components, including sleeves, scissor arms, electric push rods or electric lead screws, etc. The guide telescopic components ensure the stability of the operating mechanism, while the winch and electric push rods or electric lead screws suppress the horizontal forces acting on the robot, ensuring that the operating mechanism does not sway.
This achieves morphological stability of the robot's operating mechanism, preventing wobbling and ensuring that the robot can smoothly perform tasks such as switching operations, thereby improving work efficiency and accuracy.
Smart Images
Figure CN223876989U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a hanging rail robot technical field especially relates to a telescopic hanging rail robot. BACKGROUND
[0002] The hanging rail robot walks along the hanging rail and carries out shooting, information collection, switch operation and other operations. In order to make the robot have greater range of motion in the longitudinal direction, and to avoid interference, a scissor type lift is arranged between the walking mechanism and the operating mechanism of the robot, so that the operating mechanism is telescopic. However, in actual application, after the scissor type lift is stretched, the operating mechanism is in a state of unstable suspension. When the operating mechanism needs to operate the switch and other operations, the horizontal force acts on the scissor type lift, and the scissor type lift is prone to deformation, thereby affecting the operation accuracy and force of the operating mechanism, resulting in operation failure, even misoperation. In addition, under the condition that the scissor type lift is stretched, the movement of the walking mechanism also easily causes the operating mechanism to shake, and the shooting, switch operation and other operations need to wait for the operating mechanism to be stationary before they can be carried out, which affects the operation efficiency. SUMMARY
[0003] The utility model discloses a telescopic hanging rail robot, which can ensure the stability of the robot form during telescoping, is not prone to shaking, and can ensure that the robot can smoothly perform switch operation and other operations.
[0004] To achieve the above-mentioned purpose, the utility model discloses a telescopic hanging rail robot, which comprises a walking mechanism, a telescopic mechanism and an operating mechanism arranged in sequence, the telescopic mechanism comprises at least one guide telescopic component and at least one telescopic power component, the guide telescopic component is connected with the walking mechanism and the operating mechanism, and the telescoping direction of the guide telescopic component is from the walking mechanism to the operating mechanism; the telescopic power component is connected with the walking mechanism and the operating mechanism and drives the operating mechanism to make telescoping motion relative to the walking mechanism.
[0005] After the above-mentioned arrangement, at least one telescopic power component is arranged to drive the operating mechanism to make telescoping action, and at least one guide telescopic component is arranged to ensure the stability of the telescoping direction of the operating mechanism. When the walking mechanism is stably stopped on the hanging rail, the stability of the form of the operating mechanism can be ensured, and the operating mechanism is not prone to shaking, thereby ensuring that the robot can smoothly perform switch operation and other operations.
[0006] Preferably, the guiding telescopic assembly is a sleeve or a scissor arm; the telescopic power assembly is a winch, or the telescopic power assembly comprises at least one electric push rod or at least one electric lead screw, or the telescopic power assembly comprises at least one electric push rod and at least one electric lead screw. By matching the sleeve with the winch or the electric push rod or the electric lead screw, the sleeve can well inhibit the horizontal force of the robot and ensure that the operating mechanism does not sway.
[0007] Preferably, when the telescopic power assembly comprises two electric push rods, the seat body of one of the electric push rods is mounted on the telescopic rod of the other electric push rod, or the telescopic rods of the two electric push rods are connected with each other; when the telescopic power assembly comprises two electric lead screws, the seat body of one of the electric lead screws is mounted on the movable part of the other electric lead screw, or the movable parts of the two electric lead screws are connected with each other. The telescopic power assembly thus arranged has a longer telescopic stroke.
[0008] Preferably, the telescopic power assembly comprises two electric push rods and a connecting piece, the two electric push rods are arranged in parallel and staggered, the telescopic directions of the two electric push rods are opposite, the seat body of one of the electric push rods is connected with the walking mechanism, the seat body of the other electric push rod is connected with the operating mechanism, and the telescopic rods of the two electric push rods are connected through the connecting piece.
[0009] Alternatively, the telescopic power assembly comprises two electric lead screws and a connecting piece, the two electric lead screws are arranged in parallel and staggered, the telescopic directions of the two electric lead screws are opposite, the seat body of one of the electric lead screws is connected with the walking mechanism, the seat body of the other electric lead screw is connected with the operating mechanism, and the movable parts of the two electric lead screws are connected through the connecting piece.
[0010] After the above arrangement, the telescopic stroke of the telescopic power assembly can be long, and the telescopic power assembly can be shorter when retracted.
[0011] Preferably, the telescopic power assembly is a winch, the winch is mounted on the walking mechanism, and the traction rope of the winch is connected with the operating mechanism; or the winch is mounted on the operating mechanism, and the traction rope of the winch is connected with the walking mechanism. When the telescopic power assembly is a winch, the gravity of the operating mechanism itself serves as the power for extension, the winch pulls the operating mechanism, which can limit the extension range and also serves as the power for retraction.
[0012] Preferably, when the winch is mounted on the walking mechanism, a counterweight is additionally arranged on the operating mechanism. The counterweight is arranged to ensure that the operating mechanism can be smoothly extended.
[0013] Preferably, the walking mechanism is provided with a limiting assembly for limiting the walking mechanism and the hanging rail.
[0014] Preferably, the limiting assembly is a rail gripper, or the limiting assembly comprises a rack, a gear and a rotation-stopping piece, the rack is arranged on the hanging rail, the gear is rotationally connected to the walking mechanism and can engage with the rack, and the rotation-stopping piece can limit the rotation of the gear.
[0015] Preferably, the rotation-stopping piece is a motor with a locking function, or the rotation-stopping piece is a pneumatic cylinder.
[0016] Preferably, the operating mechanism comprises a mechanical arm and a mechanical palm connected in sequence.
[0017] The utility model has the following beneficial effects:
[0018] The utility model can guarantee the stability of the extension direction of the operating mechanism, thereby guaranteeing the form stability of the operating mechanism, and the robot will not easily shake, thereby guaranteeing that the robot can smoothly perform opening and closing operations and other operations. BRIEF DESCRIPTION OF DRAWINGS
[0019] Figure 1 It is a schematic view of the first embodiment.
[0020] Figure 2 It is a schematic view of the limiting assembly of the first embodiment.
[0021] Figure 3 It is a schematic view of the second embodiment.
[0022] Figure 4 It is a schematic view of the third embodiment.
[0023] Figure 5 It is a schematic view of the fourth embodiment.
[0024] Figure 6 It is a schematic view of the fifth embodiment.
[0025] Figure 7 It is a schematic view of the fifth embodiment with one sleeve hidden.
[0026] Figure 8 It is a schematic view of the sixth embodiment.
[0027] Note: Figures 6-8 Only a portion of the winch is shown in the image.
[0028] Explanation of symbols for main components:
[0029] Walking mechanism 10, rack 11, gear 12, anti-rotation component 13;
[0030] Operating mechanism 20, robotic arm 21, robotic hand 22;
[0031] 31. Scissor arm; 32. Electric push rod; 33. Connector; 34. Electric lead screw; 35. Sleeve; 36. Winch; 37. Traction rope.
[0032] 40mm rail. Detailed Implementation
[0033] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.
[0034] Example 1
[0035] like Figure 1 As shown, this embodiment discloses a telescopic rail-mounted robot, which includes a controller and a walking mechanism 10, a telescopic mechanism, and an operating mechanism 20 arranged sequentially. The walking mechanism 10, the telescopic mechanism, and the operating mechanism 20 are all connected to the controller. The walking mechanism 10 is existing technology, and it only needs to be able to move on the rail 40, so it will not be described in detail.
[0036] A limiting component can be provided on the walking mechanism 10 to limit the cooperation between the walking mechanism 10 and the hanging rail 40. That is, the limiting component can stably stop the walking mechanism 10 at a certain point on the hanging rail 40 to prevent the robot from displacing when the operating mechanism 20 comes into contact with the operated equipment, and to ensure that the operating mechanism 20 can operate smoothly. The limiting component can be a rail gripper, which directly grips the hanging rail 40 to achieve the stop of the walking mechanism 10. The rail gripper is existing technology and will not be described in detail.
[0037] As an alternative, the position limiting assembly can include a rack 11, a pinion 12 and a rotation stopping member 13, the rack 11 is arranged on the hanging rail 40, the rack 11 can be arranged only at the position where the robot needs to stop for operation, the pinion 12 is rotationally connected to the walking mechanism 10, when the walking mechanism 10 moves to the position where the rack 11 is arranged on the hanging rail 40, the pinion 12 can engage with the rack 11, the rotation stopping member 13 is used to limit the rotation of the pinion 12, the rotation stopping member 13 can be a motor with locking function, the output shaft of the motor is locked with the pinion 12, in normal state, the motor is powered to rotate, at this time, the motor can be used as auxiliary power, when stopping is needed, the motor is powered off and locked, the pinion 12 is limited to rotate, the pinion 12 engages with the rack 11, thereby limiting the position of the walking mechanism 10. As an alternative, the rotation stopping member 13 can adopt a pneumatic cylinder, such as a linear pneumatic cylinder, the rotation of the pinion 12 is limited by pushing the push rod of the pneumatic cylinder to push against the side surface of the pinion 12, or a clamping pneumatic cylinder is adopted to limit the rotation of the pinion 12 by clamping the pinion 12, as shown in FIG. Figure 2
[0038] The operation mechanism 20 includes a mechanical arm 21 and a mechanical palm 22 connected in sequence, the mechanical arm 21 is connected with the telescopic mechanism through a connecting plate. The mechanical palm 22 can well simulate the actions of human hand such as point, press, hold and grab, one component can realize multiple different operation actions, the operation is better, and the device space can be saved. In addition, some cameras can be configured to assist the control of the mechanical palm 22, the cameras are connected with the controller. Of course, the cameras can also be used to shoot and collect on-site images, in addition, some temperature sensors, humidity sensors, gas leakage sensors and the like can be additionally arranged on the operation mechanism 20 to collect on-site information.
[0039] The telescopic mechanism includes a guide telescopic assembly and two telescopic power assemblies, the guide telescopic assembly connects the walking mechanism 10 and the operation mechanism 20, and the telescopic direction of the guide telescopic assembly is from the walking mechanism 10 to the operation mechanism 20. The telescopic power assemblies connect the walking mechanism 10 and the operation mechanism 20 and drive the operation mechanism 20 to make telescopic movement relative to the walking mechanism 10. In the embodiment, the guide telescopic assembly is a scissor arm 31, one side of the upper end of the scissor arm 31 is hinged with the walking mechanism 10, the other side of the upper end of the scissor arm 31 is hinged with a sliding block on the walking mechanism 10, the sliding block is slidingly connected on a sliding rail arranged on the bottom of the walking mechanism 10. One side of the lower end of the scissor arm 31 is hinged with the operation mechanism 20, the other side of the lower end of the scissor arm 31 is hinged with a sliding block on the operation mechanism 20, the sliding block is slidingly connected on a sliding rail arranged on the top of the operation mechanism 20.
[0040] Two telescopic power assemblies are respectively installed on both sides of the scissor arm 31. Each telescopic power assembly includes two electric push rods 32 and a connecting member 33. The two electric push rods 32 are parallel to each other and staggered, with opposite telescopic directions (i.e., the push rods face opposite directions). The base of one electric push rod 32 is locked to the bottom of the traveling mechanism 10, while the base of the other electric push rod 32 is locked to the top of the operating mechanism 20. The telescopic rods of the two electric push rods 32 are connected by the connecting member 33. This arrangement allows for a longer telescopic stroke of the power assembly, and also allows for a shorter overall length of the power assembly when retracted.
[0041] In this embodiment, the electric push rod 32 can also be regarded as a guide telescopic assembly.
[0042] Example 2
[0043] like Figure 3 As shown, the difference between this embodiment and Embodiment 1 lies in the different connection methods used for the electric push rods 32 of the same telescopic power assembly. Specifically, the base of one electric push rod 32 (the first electric push rod 32) is connected to the bottom of the walking mechanism 10, and the telescopic rod of this first electric push rod 32 is connected to the base of another electric push rod 32 (the second electric push rod 32). The telescopic rod of the second electric push rod 32 is connected to the top of the operating mechanism 20. As an extension, the same telescopic power assembly can be equipped with three or more electric push rods 32, which are connected sequentially using the above connection method to form a multi-stroke movement. Of course, the same telescopic power assembly can also be equipped with only one electric push rod 32.
[0044] Example 3
[0045] The difference between this embodiment and Embodiment 1 or Embodiment 2 is that an electric lead screw 34 is used instead of an electric push rod 32, or some of the electric push rods 32 are replaced with electric lead screws 34. For example... Figure 4 As shown, it is a simplified diagram of this embodiment, which is a variation of Embodiment 1.
[0046] Example 4
[0047] like Figure 5 As shown, the difference between this embodiment and embodiment one is that the guide telescopic component is changed to a sleeve 35, and at least two sets of sleeves 35 are provided. One end of the sleeve 35 is connected to the bottom of the walking mechanism 10, and the other end of the sleeve 35 is connected to the operating mechanism 20.
[0048] Example 5
[0049] like Figure 6 and Figure 7As shown, the difference between the embodiment and embodiment four is that the telescopic power assembly is replaced by a winch 36, the winch 36 is installed on the walking mechanism 10, the traction rope 37 of the winch 36 is connected to the operating mechanism 20, when the operating mechanism 20 needs to be lowered, the winch 36 releases the traction rope 37, the operating mechanism 20 falls under the action of its own gravity, and the traction rope 37 can lower the operating mechanism 20. When the operating mechanism 20 needs to be lifted, the winch 36 can wind the traction rope 37. The counterweight can be added to the operating mechanism 20 to ensure that the operating mechanism 20 falls smoothly, of course, when the weight of the operating mechanism 20 is sufficient, the counterweight can not be set.
[0050] As a parallel alternative, the winch 36 is installed on the operating mechanism 20, and the traction rope 37 of the winch 36 is connected to the walking mechanism 10. The winch 36 can increase the weight of the operating mechanism 20 to ensure that the operating mechanism 20 falls smoothly, and there is no need to additionally add a counterweight.
[0051] The traction rope 37 of the winch 36 can be routed from the inner cavity of the sleeve 35.
[0052] Embodiment six
[0053] As Figure 8 shown, the embodiment is additionally provided with a scissor arm 31 on the basis of embodiment five, and the connection mode of the scissor arm 31 is referred to embodiment one.
[0054] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.
Claims
1. A telescoping catenary robot, characterized by: The device comprises a walking mechanism, a telescopic mechanism and an operating mechanism arranged in sequence, the telescopic mechanism comprises at least one guiding telescopic component and at least one telescopic power component, the guiding telescopic component connects the walking mechanism and the operating mechanism, and the telescopic direction of the guiding telescopic component is from the walking mechanism to the operating mechanism; the telescopic power component connects the walking mechanism and the operating mechanism and drives the operating mechanism to make telescopic movement relative to the walking mechanism.
2. The telescoping catenary robot of claim 1, wherein: The guiding telescopic component is a sleeve or a scissor arm; the telescopic power component is a winch, or the telescopic power component comprises at least one electric push rod or at least one electric lead screw, or the telescopic power component comprises at least one electric push rod and at least one electric lead screw.
3. The telescoping catenary robot of claim 2, wherein: When the telescopic power component comprises two electric push rods, the seat body of one of the electric push rods is mounted on the telescopic rod of the other electric push rod, or the telescopic rods of the two electric push rods are connected with each other; when the telescopic power component comprises two electric lead screws, the seat body of one of the electric lead screws is mounted on the movable part of the other electric lead screw, or the movable parts of the two electric lead screws are connected with each other.
4. The telescoping catenary robot of claim 3, wherein: The telescopic power component comprises two electric push rods and a connecting piece, the two electric push rods are arranged in parallel and are staggered, and the telescopic directions of the two electric push rods are opposite, the seat body of one of the electric push rods is connected with the walking mechanism, the seat body of the other electric push rod is connected with the operating mechanism, and the telescopic rods of the two electric push rods are connected through the connecting piece. Or, the telescopic power component comprises two electric lead screws and a connecting piece, the two electric lead screws are arranged in parallel and are staggered, and the telescopic directions of the two electric lead screws are opposite, the seat body of one of the electric lead screws is connected with the walking mechanism, the seat body of the other electric lead screw is connected with the operating mechanism, and the movable parts of the two electric lead screws are connected through the connecting piece.
5. The telescoping catenary robot of claim 2, wherein: The telescopic power component is a winch, the winch is mounted on the walking mechanism, and the traction rope of the winch is connected with the operating mechanism; or the winch is mounted on the operating mechanism, and the traction rope of the winch is connected with the walking mechanism.
6. The telescoping catenary robot of claim 5, wherein: When the winch is mounted on the walking mechanism, a counterweight is additionally arranged on the operating mechanism.
7. The telescoping catenary robot of claim 1, wherein: A limiting component for limiting the walking mechanism and the hanging rail is arranged on the walking mechanism.
8. The telescoping catenary robot of claim 7, wherein: The limiting component is a rail hugging device, or the limiting component comprises a rack, a gear and a rotation stopping piece, the rack is arranged on the hanging rail, the gear is rotationally connected to the walking mechanism, the gear can be engaged with the rack, and the rotation stopping piece can limit the rotation of the gear.
9. The telescoping catenary robot of claim 8, wherein: The rotation stopping piece is a motor with a locking function, or the rotation stopping piece is a pneumatic cylinder.
10. The telescoping catenary robot of claim 1, wherein: The operating mechanism comprises a mechanical arm and a mechanical palm connected in sequence.