A robot rail guiding mechanism

Abstract

The utility model provides a kind of robot track guiding mechanism, including track guiding frame and the first track guiding frame and the second track guiding frame being set on track guiding frame and lower end and the guide rail upper end of compartment inside butt joint, the first track guiding frame, the second track guiding frame are arranged in parallel;The lower position of the track guiding frame is provided with at least one fixed support leg, and the fixed support leg is detachably fixed to the ground outside the compartment opening at the upper end of the compartment.The utility model sets track guiding mechanism on the ground at the upper end of the compartment, and the first track guiding frame and the second track guiding frame are connected to the lower guide rail to realize butt joint, so that the climbing maintenance robot can be smoothly placed into the compartment, quickly and accurately butt joint with the guide rail in the compartment, reduce butt joint time and improve the efficiency of maintenance robot operation preparation.

Description

Technical Field

[0001] This utility model belongs to the field of robot auxiliary equipment, specifically relating to a robot track guiding mechanism. Background Technology

[0002] Currently, magnetic robots are generally used in the inspection, welding, rust removal, and spraying of large steel objects such as ship hulls, pressure vessels, and oil tanks. The working surface is relatively large, and usually only requires manual placement of the robot on the surface of the steel object. It can then work by relying on magnetic attraction to adhere to the working surface without the need for a special docking device.

[0003] Vertical climbing maintenance robots are used to replace manual labor in performing maintenance work on the compartment guide rails. Before the vertical climbing maintenance robot can work, it needs to be docked with the guide rail in the compartment to ensure that the vertical climbing maintenance robot can be smoothly lowered along the guide rail.

[0004] Because the vertical climbing maintenance robot uses magnetic wheels and the compartment opening is made of stainless steel, and the size of the compartment opening is very close to the robot's overall dimensions, manual docking is difficult to control due to the influence of magnetic forces. The docking process consumes a significant amount of time, severely reducing overall operational efficiency. Therefore, a docking device is needed to achieve precise docking between the vertical climbing maintenance robot and the guide rails in the compartment. In existing technologies, most docking structures are horizontal guide rail docking, such as patent CN112454250A (a device for disassembling and assembling internal components of a large marine robot sealed compartment) and patent CN104993422A (a device for loading and unloading a line-following robot and the structure in the line-following robot loading and unloading system). There is no structure applicable to vertical guide rail docking within the compartment. Utility Model Content

[0005] This utility model provides a robot guide mechanism that is precise in docking and easy to install.

[0006] The purpose of this utility model is achieved in the following manner: a robot guide rail mechanism, including a guide rail frame and a first guide rail and a second guide rail disposed on the guide rail frame and whose lower ends are connected to the upper ends of guide rails in the compartment, the first guide rail and the second guide rail being arranged in parallel; at least one fixed support leg is provided at the lower position of the guide rail frame, the fixed support leg being detachably fixed to the ground outside the compartment opening at the upper end of the compartment.

[0007] The fixed support legs are respectively installed on the left and right sides of the lower position of the guide rail frame; the bases are respectively fixed on the left and right sides of the ground outside the compartment opening at the upper end of the compartment, and the bases are provided with pin holes with upward openings. The threaded pin passes through the pin holes and is fixed to the base by a nut; the fixed support legs are provided with elongated holes along the left and right directions; the upper end of the threaded pin passes through the elongated holes and is fixed to the fixed support legs by a nut.

[0008] The base is an existing base located on the left and right sides behind the compartment opening; the pin hole is an existing light hole located on the base, with its length direction aligned with the length direction of the guide rail.

[0009] Auxiliary support legs for fine-tuning the angle of the guide rail frame are respectively provided on the left and right sides of the lower position of the guide rail frame. The contact points of the auxiliary support legs with the ground are not on the same line as the two fixed support legs.

[0010] The auxiliary support leg includes an auxiliary component fixedly connected to the guide rail frame and a support component whose lower end contacts the ground; the lower end of the auxiliary component and the upper end of the support component are detachably connected and the distance between them is adjustable; the width of the elongated hole is greater than the diameter of the threaded pin.

[0011] The upper crossbeam at the upper end of the guide rail frame is equipped with a fall arrestor, and the hook end of the fall arrestor is detachably connected to the robot.

[0012] Two guide wheels are installed at a position slightly to the left or right of the center of the crossbeam of the guide rail frame; the robot's power cable passes between the two guide wheels.

[0013] Compared to existing technologies, this utility model sets up a guide rail mechanism on the ground at the upper end of the compartment. By setting up a first guide rail and a second guide rail to connect with the lower guide rail, the climbing maintenance robot can be smoothly lowered into the compartment and quickly and accurately connected with the guide rail in the compartment, reducing docking time and improving the efficiency of maintenance robot operation preparation. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall design of this utility model.

[0015] Figure 2 This is a schematic diagram of the working state of this utility model.

[0016] Figure 3 yes Figure 2 Enlarged view of the lower fixed support leg and auxiliary support leg.

[0017] Among them, 1 is the fixed support leg, 2 is the guide rail frame, 3 is the fixed pulley, 4 is the first guide rail, 5 is the upper crossbeam, 6 is the fall arrestor, 7 is the second guide rail, 8 is the handle, 9 is the middle crossbeam, 10 is the auxiliary support leg, 11 is the guide rail mechanism, 12 is the vertical climbing maintenance robot, 13 is the base, 14 is the compartment opening, and 15 is the threaded pin. Detailed Implementation

[0018] In this utility model, unless otherwise expressly specified and limited, the technical terms used in this application shall have the ordinary meaning understood by those skilled in the art. Terms such as "connected," "linked," "fixed," and "set" shall be interpreted broadly, referring to fixed connections, detachable connections, or integral connections; direct connections or indirect connections via an intermediate medium; mechanical connections or electrical connections. Unless otherwise expressly specified and limited, "above" or "below" a second feature may mean that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," or "over" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "under" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. Relational terms such as "first," "second," etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms used in the description, such as “center,” “lateral,” “longitudinal,” “length,” “width,” “thickness,” “height,” “front,” “rear,” “left,” “right,” “up,” “down,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” “outer,” “axial,” “radial,” “circumferential,” “clockwise,” and “counterclockwise,” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation.

[0019] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings and specific embodiments. Figure 1-3As shown, a robot guide rail mechanism includes a guide rail frame 2 and a first guide rail 4 and a second guide rail 7 mounted on the guide rail frame 2 and whose lower ends are connected to the upper ends of guide rails inside the compartment. The first guide rail 4 and the second guide rail 7 are arranged in parallel. At least one fixed support leg 1 is provided at the lower position of the guide rail frame 2, and the fixed support leg 1 is detachably fixed to the ground outside the compartment opening 14 at the upper end of the compartment. This utility model sets the guide rail mechanism on the ground at the upper end of the compartment, and achieves docking with the lower guide rail by setting the first and second guide rails, and then fixes the guide rail mechanism to the outside of the compartment opening 14. This enables the climbing maintenance robot to be smoothly lowered into the compartment, quickly and accurately docking with the guide rail in the compartment, reducing docking time, and improving the efficiency of maintenance robot operation preparation. In addition, in this utility model, the guide rail mechanism is fixed to the ground, rather than directly fixing the first guide rail 4 and the second guide rail 7 to the lower guide rail. This has the following advantages compared to the structure where the guide rail and guide rail are directly fixed. First: The guide rails within the compartment are critical components, requiring high precision. After installation, the guide rails are already adjusted to the appropriate precision. Drilling holes or installing parts on the guide rails later will affect their precision and other performance characteristics. This invention allows for guide rail installation without altering the existing guide rails within the compartment, preserving their precision. Second: The guide rail frame 2 is fixed to the ground, featuring a simple structure and easy installation and disassembly. The load is borne by the ground, preventing damage to the connections. It also allows for convenient fine-tuning of the angle.

[0020] Fixed support legs 1 are respectively installed on the left and right sides of the lower position of the guide rail frame 2; bases 13 are respectively fixed on the left and right sides of the ground outside the compartment opening 14 at the upper end of the compartment. Each base 13 has an upward-facing pin hole, through which a threaded pin 15 passes and is fixed to the base 13 by a nut; each fixed support leg 1 has an elongated hole along its length in the left-right direction; the upper end of the threaded pin 15 passes through the elongated hole and is fixed to the fixed support leg by a nut. A nut is installed on the threaded pin 15 at the upper end of the pin hole. A space is also provided below the pin hole, allowing a nut to be installed on the lower end of the threaded pin 15 for fixation. The base 13 and the fixed support legs 1 are fixed by the threaded pin passing through the pin hole and the nuts at both ends, thus fixing the entire guide rail mechanism. Alternatively, the pin hole can be configured with its length direction in the front-back or left-right direction. Combined with elongated holes and threaded pins 15 in other directions, these can also serve to fix and fine-tune the guide rail frame 2, all of which are within the protection scope of this utility model.

[0021] The base 13 is an existing base 13 located on the left and right sides behind the compartment opening 14; the pin hole is an existing light hole located on the base 13, with its length direction aligned with the length direction of the guide rail. This utility model utilizes the existing base 13 and existing pin holes outside the compartment opening. It eliminates the need for redesigning and installing the base 13 or drilling; facilitating installation, it reduces or avoids modifications to the compartment, preserving its original layout and performance.

[0022] Auxiliary support legs 10 are respectively provided on the left and right sides of the lower position of the guide rail frame 2 for fine-tuning the angle of the guide rail frame 2. The contact point of the auxiliary support legs 10 with the ground is not aligned with the two fixed support legs 1. The auxiliary support legs 10 can fine-tune the guide rail frame 2 in several ways, such as adjusting the height of the auxiliary support legs 10 or adjusting the distance from the contact point of the auxiliary support legs 10 with the ground to the guide rail frame 2. Adjusting the auxiliary support legs 10 allows the guide rail frame 2 to rotate up and down or back and forth, thereby ensuring that the first guide rail 4 and the second guide rail 7 are precisely aligned with the upper end of the guide rail in the compartment. After adjustment, the guide rail mechanism is fixed by the fixed support legs 1. Here, the left and right direction refers to the direction of the first guide rail 4 and the second guide rail 7, with one guide rail on the left and the other on the right; the up and down direction is the length direction of the guide rail; the back and forth direction is perpendicular to the up and down and left and right directions, and the position of the guide rail can be considered to be slightly behind the compartment opening 14.

[0023] The auxiliary support leg 10 includes an auxiliary component fixedly connected to the guide rail frame 2 and a support component whose lower end contacts the ground. The lower end of the auxiliary component and the upper end of the support component are detachably connected and the distance between them is adjustable. The width of the elongated hole is greater than the diameter of the threaded pin 15. There are several ways to detachably connect the lower end of the auxiliary component and the upper end of the support component, such as using a threaded connection, with a threaded hole at the lower end of the auxiliary component and a screw at the upper end of the support component, achieving fixation and adjustment through the engagement of the threaded hole and the screw. Alternatively, the lower end of the auxiliary component can have a smooth hole, and the upper end of the support component can have a screw, achieving fixation and adjustment through nuts placed above and below the screw. Other adjustable distance methods are also possible. The width of the elongated hole is slightly large, and the angle between the threaded pin 15 and the elongated hole can be slightly tilted without affecting the fixing effect of the nuts. The shape of the position where the lower end of the support component contacts the bottom surface can be an inverted frustum shape or other common shapes. Preferably, the lower end of the support component is located in an existing groove around the compartment opening 14, making full use of the existing structure.

[0024] If the first guide rail 4 and the second guide rail 7 are roughly aligned and fixed to the upper end of the guide rail, and the guide rail frame 2 is misaligned or slightly tilted due to installation errors, uneven surface of the base 13, uneven surface of the fixed support leg 1, uneven ground, or other reasons, then precise alignment with the guide rail cannot be guaranteed. In this case, it is necessary to loosen the nut on the threaded pin and fine-tune the front-back, up-down, and position of the guide rail frame 2 to adjust the alignment accuracy and ensure a precise alignment, ensuring that the working surfaces of the first guide rail 4, the second guide rail 7, and the guide rail are on the same plane. Specifically: the left-right and front-back positions of the guide rail frame 2 can be adjusted by using the elongated hole to cooperate with the threaded pin 15 and fixed with the nut. The up-down position of the guide rail frame 2 is adjusted by moving the threaded pin 15 up and down and fixing it with the nut. When the axis of rotation of the guide rail frame 2 in the up-down direction is adjusted in the front-back direction, the distance between the lower end of the auxiliary component and the lower end of the support component on one side is increased, and the distance on the other side is decreased; then tighten the nuts on the upper and lower sides of the fixed support leg 15 to fix the entire guide rail frame. Because of the support of the auxiliary support leg 10, the position of the guide rail frame 2 can be precisely adjusted. When the guide rail frame 2 rotates in the forward and backward direction along the axis of rotation, the distance between the lower end of the auxiliary component and the lower end of the support component can be adjusted simultaneously. When the guide rail frame 2 rotates in the left and right direction along the axis of rotation, the distance between the lower end of the auxiliary component and the lower end of the support component does not change; it only moves horizontally. After adjustment, tighten the nuts on the upper and lower sides of the threaded pin 15 located on the fixed support leg 1. Because the width of the elongated hole is slightly larger, fine-tuning rotation can be fully achieved. This utility model, through the cooperation of the auxiliary support leg 10 and the fixed support leg 1, realizes multiple directions of movement and rotational fine-tuning of the guide rail frame 2, thereby ensuring that the first guide rail 4 and the second guide rail 7 can be precisely connected with the guide rail in the lower compartment. Furthermore, regarding the structure of the original base 13 outside the compartment opening 14, although the original ground structure can be maintained, the original base 13 is more likely to have low precision or uneven surface due to painting, etc. In this case, the threaded pin 15 itself may tilt. Without a fine-tuning structure, the guide rail frame 2 may also tilt, making it impossible to accurately align with the guide rail inside the compartment. The auxiliary support leg 10 of this invention can effectively fine-tune the angle of the guide rail frame 2, unaffected by the base 13. Moreover, if the guide rail has a certain angle, this invention can also fine-tune it to match the guide rail.

[0025] A fall arrestor 6 is installed on the upper crossbeam 5 at the upper end of the guide rail frame 2. The hook end of the fall arrestor is detachably connected to the robot. The fall arrestor is an existing structure that can quickly brake and lock falling objects within a limited distance; its specific structure will not be described in detail. When the vertical climbing maintenance robot 12 descends slowly, the rope of the fall arrestor 6 is slowly released. If the vertical climbing maintenance robot 12 suddenly falls unexpectedly during operation, the fall arrestor 6 can self-lock to prevent the vertical climbing maintenance robot 12 from falling. The fall arrestor 6 is preferably located in the middle position of the upper crossbeam 5.

[0026] Two guide wheels 3 are positioned slightly to the left or right of the center of the crossbeam 9 of the guide rail frame 2; the power cable of the robot 12 passes between the two guide wheels. Each guide wheel 3 includes a fixed shaft mounted on the crossbeam 9, and the guide wheel 3 is fixedly or rotatably mounted on the fixed shaft. The robot 12's power cable passes between the two guide wheels 3 primarily to prevent the power cable and fall arrestor rope of the vertically climbing maintenance robot 12 from becoming tangled or knotted.

[0027] The guide rail frame 2 is a gantry structure, including two long sides (left and right) and at least one crossbeam connecting the two long sides. The lower ends of the first guide rail 4 and the second guide rail 7 extend beyond the lower ends of the long sides of the guide rail frame 2. Handles 8 are respectively provided on the two long sides. The handles 8 are installed on the long sides of the gantry guide rail frame 2 to facilitate movement from one compartment to another. More specifically: the guide rail frame 2 is the mounting body for all parts. The first guide rail 4 and the second guide rail 7 are respectively installed on the left and right long sides of the guide rail frame 2 and fixed with countersunk screws, serving as the suction surface for the vertical climbing maintenance robot 12. The fixed support legs 1 are installed on the back of the lower ends of the two long sides of the gantry guide rail frame 2. The first guide rail 4 and the second guide rail 7 are installed on the front of the long sides, and the lower ends of the first guide rail 4 and the second guide rail 7 extend beyond the lower ends of the long sides of the guide rail frame 2 to facilitate insertion into the compartment and docking with the guide rails. Preferably, the lower ends of the first guide rail 4 and the second guide rail 7 are provided with bevels corresponding to the chamfers of the upper ends of the guide rails inside the compartment. The auxiliary support leg 10 is fixed to the back or side of the long side, and the bottom of its support member is located on the front or rear side of the fixed support leg 1.

[0028] This utility model's guide rail mechanism adopts a gantry structure, avoiding interference from the hatch cover. A fall arrestor 6 is installed on the upper crossbeam 5 of the guide rail frame 2, solving the problem of accidental falls during the vertical climbing maintenance robot's operation. Two guide wheels 3 are installed on one side of the middle crossbeam 9 of the guide rail frame 2, allowing the power cable to pass through, solving the problems of the power cable entanglement with the fall arrestor rope and the easy wear of the cable sheath. Utilizing the pin holes on the base 13 outside the existing launch device compartment 14, threaded pins 15 that mate with the pin holes on the fixed support legs 1 are designed, and the guide rail mechanism is fixed by tightening with nuts. By fine-tuning the position and angle of the guide rail frame 2 with the auxiliary support legs 10, the vertical climbing maintenance robot can quickly and accurately dock with the guide rail in the compartment, reducing docking time and improving the efficiency of the maintenance robot's work preparation. After the robot completes its work, it can easily climb out of the compartment and move to another compartment for further work.

[0029] In practice: the threaded pin 15 is fixed to the base 13, with its upper end passing through the elongated hole on the fixed support leg 1 of the guide rail mechanism. The lower ends of the first guide rail 4 and the second guide rail 7 of the guide rail mechanism extend into the compartment and connect with the guide rail. The height of the auxiliary support leg 10 is finely adjusted to ensure precise connection between the guide rail mechanism and the guide rail, and then the nut is tightened to fix the fixed support leg 1 to the base 13.

[0030] The technical features of the embodiments described above can be combined in any way, and as long as there is no contradiction in the combination of these technical features, they should all be considered within the scope of this specification. Without departing from the overall concept of this utility model, any equivalent substitutions or modifications made to the technical solution of this utility model, as well as any changes and improvements, should also be considered within the protection scope of this utility model.

Claims

1. A robot track guiding mechanism, characterized in that: It includes a guide rail frame (2) and a first guide rail (4) and a second guide rail (7) set on the guide rail frame (2) and whose lower ends are connected to the upper ends of the guide rails in the compartment. The first guide rail (4) and the second guide rail (7) are arranged in parallel. At least one fixed support leg (1) is provided at the lower position of the guide rail frame (2). The fixed support leg (1) is detachably fixed to the ground outside the compartment opening (14) at the upper end of the compartment.

2. The robot guide mechanism according to claim 1, characterized in that: The fixed support legs (1) are respectively installed on the left and right sides of the lower position of the guide rail frame (2); the base (13) is fixedly installed on the left and right sides of the ground outside the compartment opening (14) at the upper end of the compartment. The base (13) is provided with an upward-opening pin hole. The threaded pin (15) passes through the pin hole and is fixed to the base (13) by a nut; the fixed support leg (1) is provided with a long hole along the left and right direction; the upper end of the threaded pin (15) passes through the long hole and is fixed to the fixed support leg by a nut.

3. The robot guide mechanism according to claim 2, characterized in that: The base (13) is an existing base (13) located on the left and right sides behind the compartment opening (14); the pin hole is an existing light hole located on the base (13) with its length direction consistent with the length direction of the guide rail.

4. The robot guide mechanism according to claim 2, characterized in that: Auxiliary support legs (10) for fine-tuning the angle of the guide rail frame (2) are respectively provided on the left and right sides of the lower position of the guide rail frame (2). The contact point between the auxiliary support legs (10) and the ground is not on the same line as the two fixed support legs (1).

5. The robot guide rail mechanism according to claim 4, characterized in that: The auxiliary support leg (10) includes an auxiliary component fixedly connected to the guide rail frame (2) and a support component whose lower end contacts the ground; the lower end of the auxiliary component and the upper end of the support component are detachably connected and the distance is adjustable; the width of the elongated hole is greater than the diameter of the threaded pin (15).

6. The robot guide mechanism according to claim 1, characterized in that: The upper crossbeam (5) at the upper end of the guide rail frame (2) is equipped with a fall arrestor (6), and the hook end of the fall arrestor is detachably connected to the robot.

7. The robot guide mechanism according to claim 6, characterized in that: Two guide wheels (3) are set at a position slightly to the left or right of the middle crossbeam (9) of the guide rail frame (2); the power cable of the robot (12) passes between the two guide wheels.

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