CN109502479A - A kind of track hoisting mechanism convenient for handling - Google Patents

Abstract

The invention discloses a rail hoisting mechanism which is convenient for loading and unloading, which is suitable for a rail with several booms, and comprises a pan-tilt fixing plate, two power sources, four pulley mechanisms, two first connecting plates and two second connecting plates. The connecting plate, the gimbal fixing plate is elongated, the four pulley mechanisms are symmetrically distributed on both sides of the gimbal fixing plate, and there is space between the two pulley mechanisms on the same side, which is convenient to install the gimbal at the bottom of the gimbal fixing plate , the two first connecting plates are located on the same side of the fixed plate of the gimbal, the two second connecting plates are located on the other side of the fixed plate of the gimbal, each first connecting plate is fixed with a pulley mechanism, and each second connecting plate A pulley mechanism is fixedly connected to the top, the second connecting plate is located above the first connecting plate, and the two are in sliding contact. The two power sources are symmetrically arranged on the two pulley mechanisms on different sides, and the two power sources are symmetrical with respect to the central axis of the fixed plate of the pan/tilt head. The invention solves the problem that the existing hoisting mechanism is a closed-loop structure and is not suitable for a track fixedly connected with a support frame in the middle.

Description

A kind of track hoisting mechanism convenient for handling

Technical field

The invention belongs to the robot fields that competes, and in particular to a kind of track hoisting mechanism convenient for handling.

Background technique

As one of maximum robot match in the whole world, RoboMaster machine first masters' tournament can all attract numerous science and engineerings every year University student troop, section participates in.The arm of the services for being named as sentry robot is newly added in match in 2018, as the term suggests its It is primarily used to tail.Due to providing that it can only be limited in the S-shaped track hung in the air in match in rule Upper autonomous, and there is support frame to be connected among track, so suspending structure in orbit in midair cannot be closed loop configuration.Again Because before match needing that it is installed on track in three minutes times, the comfort level loaded and unloaded to it is proposed Very high requirement should guarantee that the comfort level of handling to save the time, guarantees reliability of structure again.

Summary of the invention

The purpose of the present invention is to provide a kind of track hoisting mechanisms convenient for handling, and solving existing hoisting mechanism is to close Ring structure is not suitable for the problem of intermediate track for having support frame to be connected.

The technical solution for realizing the aim of the invention is as follows: a kind of track hoisting mechanism convenient for handling, suitable for having The track of several sunpenders, including holder fixed plate, two power sources, four pulley mechanisms, two the first connecting plates and two Two connecting plates, holder fixed plate strip, four pulley mechanisms are symmetrically distributed in holder fixed plate two sides, and are located at the same side There are spaces between two pulley mechanisms, and convenient for installing holder in holder fixed plate bottom, two the first connecting plates are located at holder The same side of fixed plate, two the second connecting plates are located at the other side of holder fixed plate, and each first connecting plate is connected a cunning Mechanism is taken turns, be connected a pulley mechanism on each second connecting plate, and the second connecting plate is located above the first connecting plate, the two sliding Contact.Two power sources, which are symmetricly set on, to be located on two not ipsilateral pulley mechanisms, and two power sources are fixed about holder The central axis of plate is symmetrical.

Compared with prior art, the present invention its remarkable advantage is:

(1) it is convenient for fast assembling-disassembling；(2) have simultaneously through track sunpender and cornering ability；(3) rubber wheel can make operation more It is smooth；(4) use top wheel driving bigger than using side wheel friction-driven adhesive force.

Detailed description of the invention

Fig. 1 is overall structure figure of the invention.

Fig. 2 is top view of the invention.

Fig. 3 is bottom view of the invention.

Fig. 4 is left view of the invention.

Fig. 5 is to use track overall structure figure of the invention.

Fig. 6 is installation steps figure one of the present invention convenient for the track hoisting mechanism of handling.

Fig. 7 is installation steps figure two of the present invention convenient for the track hoisting mechanism of handling.

Specific embodiment

Present invention is further described in detail with reference to the accompanying drawing.

In conjunction with Fig. 1 to Fig. 7, a kind of track hoisting mechanism convenient for handling of the present invention, suitable for being hung with several The track of bar, including 12, two power sources of holder fixed plate, four pulley mechanisms, two the first connecting plates 1 and two second companies Fishplate bar 13,12 strip of holder fixed plate, four pulley mechanisms are symmetrically distributed in 12 two sides of holder fixed plate, and are located at the same side Two pulley mechanisms between there are space, convenient for installing holder in 12 bottom of holder fixed plate, two the first connecting plates 1 are located at The same side of holder fixed plate 12, two the second connecting plates 13 are located at the other side of holder fixed plate 12, each first connecting plate 1 Be connected a pulley mechanism, and be connected a pulley mechanism on each second connecting plate 13, and the second connecting plate 13 is located at the first connection 1 top of plate, the two sliding contact.Two power sources, which are symmetricly set on, to be located on two not ipsilateral pulley mechanisms, and two dynamic Power source is symmetrical about the central axis of holder fixed plate 12.

First connecting plate 1 includes the first vertical plate of same size, the first inclined plate, first horizontal plate and two limit spiral shells Nail, wherein the first inclined plate connects the first vertical plate and first horizontal plate obliquely, first horizontal plate bottom surface is from its open end to another One end is provided with a rectangular aperture, and is being equipped with two positioning fixation holes, turbine far from the open extreme direction of first horizontal plate Structure is fixed on the first vertical plate.It is slidably connected on each first horizontal plate with second connecting plate 13, two stop screws It is separately fixed at the end at first horizontal plate bottom surface opened end.

Second connecting plate 13 includes the second vertical plate, the second inclined plate and second horizontal plate, and the second inclined plate connects obliquely The second vertical plate and second horizontal plate are connect, wherein the width of second horizontal plate is identical as first horizontal plate bottom width, the second water Plate is placed on first level plate top surface, and there are two can be overlapped with size with first horizontal plate setting close to its end Fixation hole is positioned, pulley mechanism is fixed on the second vertical plate.

The pulley mechanism includes arc rubber wheel 3, polyurethane rubber roller 7, bearing 8, bearing limited block 9, the axis of rolling 10, One bearing block 6 and two rubber wheel fixed frames 2, polyurethane rubber roller 7 are arranged on the axis of rolling 10 by bearing 8, solid close to holder One end of fixed board 12 is limited by bearing limited block 9, and the other end is equipped with first bearing seat 6, and it is perpendicular that first bearing seat 6 is fixed on first In straight panel (the second vertical plate), arc rubber wheel 3 is erected by first that two rubber wheel fixed frames 2 are fixed on 10 lower section of the axis of rolling In straight panel (the second vertical plate), and it is ipsilateral with holder fixed plate 12.

The power source includes motor fixing frame 4 and motor 5, and the motor 5 in two power sources is fixed by motor respectively Frame 4 is fixed with not ipsilateral the first vertical plate and the second vertical plate is located at, and the output shaft of motor 5 protrudes into first bearing seat 6 and rolling Moving axis 10 is connected.

Track hoisting mechanism of the present invention convenient for handling further includes U-shaped stressed member 14,14 open end of U-shaped stressed member Top surface is set there are two opening, and 14 open end of U-shaped stressed member is successively wrapped up the first horizontal plate of the first connecting plate 1 and second upwards and connected The second horizontal plate of fishplate bar 13 is bolted on 13 top surface of the second connecting plate, and close first connecting plate, 1 open end, when Second horizontal plate and first horizontal plate round about pull when, two stop screws of first horizontal plate bottom can pass through U The opening of shape stressed member 14.

Track hoisting mechanism of the present invention convenient for handling further includes at least one pull locating part 16, pull limit Part 16 is U-shaped, and the first horizontal plate of the first connecting plate 1 and the second level of the second connecting plate 13 are successively wrapped up in open end upwards Plate is bolted on 13 top surface of the second connecting plate, and far from 1 open end of the first connecting plate, when second horizontal plate and first Level board round about pull when, two stop screws of first horizontal plate bottom are stopped to limit by pull locating part 16.

Track hoisting mechanism of the present invention convenient for handling further includes two rotary shafts 11 and two second bearing seats 15, rotary shaft 11 is located at the both ends of 12 central axis of holder fixed plate, and two rotary shafts 11 sequentially pass through holder fixed plate 12, Two connecting plates 13, bottom is limited by second bearing seat 15, so that the first connecting plate 1 and the second connecting plate 13 are around holder fixed plate 12 rotations.

The course of work is as follows:

When the track hoisting mechanism is installed on track, outside pull the first connecting plate 1 and the second connecting plate 13, until the Two stop screws of one level board bottom stop limit to stop by pull locating part 16.At this point, being located at 12 liang of holder fixed plate The distance between pulley mechanism of side is the largest, and this spacing is greater than the width of track.The present invention is lifted into set upper rail, Stop rising when the height of its polyurethane rubber roller 7 is higher than track.Again inwardly by the first connecting plate 1 and the second connecting plate 13 It pushes away, until two on first horizontal plate and second horizontal plate are overlapped with the positioning fixation hole of size, uses two bolts at this time First connecting plate 1 and the second connecting plate 13 are solidly fixed by the positioning fixation hole across coincidence.

After it loads onto track, two operatings of motor 5 will drive two pulley mechanism rotations, so that entire mechanism be driven to exist It walks on track, the arc rubber wheel 3 being fixed on the first vertical plate and the second vertical plate in motion process can play guiding Effect, and limit its lateral vibration.

When present invention operation to bend, the first connecting plate 1 being solidly fixed and the second connecting plate 13 can be around rotations Axis 11 rotates, and thus can successfully be diverted through bend.Due to there is many sunpenders on guide rail, at this point, being fixed positioned at holder The effect of distance will embody between two pulley mechanisms of 12 two sides of plate, and the spacing bigger than sunpender diameter may insure It successfully back and forth through.

Claims (8)

1. A rail hoisting mechanism for easy loading and unloading, characterized in that it is suitable for a rail with several booms, including a pan-tilt fixing plate (12), two power sources, four pulley mechanisms, and two first connecting plates (1) and two second connecting plates (13), the pan-tilt fixing board (12) is elongated, and the four pulley mechanisms are symmetrically distributed on both sides of the pan-tilt fixing board (12), and two pulleys located on the same side There is space between the mechanisms to facilitate the installation of the gimbal at the bottom of the gimbal fixing plate (12). The two first connecting plates (1) are located on the same side of the gimbal fixing plate (12). The two second connecting plates (13) ) is located on the other side of the pan/tilt fixing plate (12), each first connecting plate (1) is fixed with a pulley mechanism, each second connecting plate (13) is fixed with a pulley mechanism, and the second connecting plate ( 13) Located above the first connecting plate (1), the two are in sliding contact; the two power sources are symmetrically arranged on two pulley mechanisms located on different sides, and the two power sources are about the central axis of the pan-tilt fixing plate (12) symmetry. 2 . The rail hoisting mechanism for easy loading and unloading according to claim 1 , wherein the first connecting plate ( 1 ) comprises a first vertical plate, a first inclined plate, a first horizontal plate and two Limit screw, wherein the first inclined plate connects the first vertical plate and the first horizontal plate obliquely upward, the bottom surface of the first horizontal plate has a rectangular opening from its open end to the other end, and the pulley mechanism is fixed on the first vertical plate Each first horizontal plate is slidably connected with a second connecting plate (13), and two limit screws are respectively fixed at the end of the open end of the bottom surface of the first horizontal plate; one end of the second connecting plate (13) is located in the rectangular opening top. 3. The rail hoisting mechanism for easy loading and unloading according to claim 1 or 2, wherein the second connecting plate (13) comprises a second vertical plate, a second inclined plate and a second horizontal plate, and the second connecting plate (13) comprises a second vertical plate, a second inclined plate and a second horizontal plate. The inclined plate connects the second vertical plate and the second horizontal plate obliquely upward, wherein the width of the second horizontal plate is the same as the width of the bottom surface of the first horizontal plate, the second horizontal plate is placed on the top surface of the first horizontal plate, and the pulley mechanism is fixed on the first horizontal plate. Two vertical boards. 4. The rail hoisting mechanism for easy loading and unloading according to any one of claims 1-3, characterized in that: the pulley mechanism comprises an arc-shaped rubber wheel (3), a polyurethane rubber roller (7), and a bearing (8) , bearing limit block (9), rolling shaft (10), first bearing seat (6) and two rubber wheel fixing frames (2), the polyurethane rubber roller (7) is set on the rolling shaft (10) through the bearing (8). ), one end close to the pan/tilt fixing plate (12) is limited by the bearing limit block (9), the other end is provided with a first bearing seat (6), and the first bearing seat (6) is fixed on the vertical plate, The curved rubber wheel (3) is fixed on the vertical plate below the rolling shaft (10) through two rubber wheel fixing brackets (2), and is on the same side as the head fixing plate (12). 5. The rail hoisting mechanism for easy loading and unloading according to any one of claims 1-3, characterized in that: the power source comprises a motor fixing frame (4) and a motor (5), and the motor in the two power sources (5) The first vertical plate and the second vertical plate located on different sides are respectively fixed by the motor fixing frame (4), and the output shaft of the motor (5) extends into the first bearing seat (6) and the rolling shaft (10) ) is fixed. 6. The rail hoisting mechanism for easy loading and unloading according to any one of claims 1-5, characterized in that it further comprises a U-shaped force-bearing member (14), and the top surface of the open end of the U-shaped force-bearing member (14) is provided with There are two openings, and the open end of the U-shaped force-receiving member (14) wraps the first horizontal plate of the first connecting plate (1) and the second horizontal plate of the second connecting plate (13) upward in turn, and is fixed on the second connecting plate. (13) The top surface, close to the open end of the first connecting plate (1), when the second horizontal plate and the first horizontal plate are pulled in opposite directions, the two limit screws at the bottom of the first horizontal plate can pass through the U-shaped The opening of the force receiving member (14). 7. The rail hoisting mechanism for easy loading and unloading according to any one of claims 1-6, characterized in that it further comprises at least one pull-out limiter (16), and the pull-out limiter (16) is U-shaped , the open end wraps up the first horizontal plate of the first connecting plate (1) and the second horizontal plate of the second connecting plate (13) in turn, and is fixed on the top surface of the second connecting plate (13) and away from the first connecting plate. (1) At the open end, when the second horizontal plate and the first horizontal plate are pulled in opposite directions, the two limit screws at the bottom of the first horizontal plate are blocked and limited by the pull-out limiter (16). 8. The rail hoisting mechanism for easy loading and unloading according to any one of claims 1-6, characterized in that it further comprises two rotating shafts (11) and two second bearing seats (15), and the rotating shaft (11) ) are located at both ends of the central axis of the pan-tilt fixing plate (12), the two rotating shafts (11) pass through the pan-tilt fixing board (12) and the second connecting plate (13) in sequence, and the bottom passes through the second bearing seat (15) The position is limited, so that the first connecting plate (1) and the second connecting plate (13) are rotated around the head fixing plate (12).