CN220637895U - A two-wheeled crane rail robot system that can connect multiple machines - Google Patents

Abstract

The utility model discloses a two-wheeled hanging rail robot system that can be connected to multiple machines, including an overall robot frame and a walking module, a transmission module, a control drive module and a multi-machine connection module; through the multiple modules, all tasks can be completed together. This article describes the two-wheeled hanging rail robot and its straight, turning and climbing movements of multiple robots in a multi-machine connection state. The walking module includes running wheels and guide shock-absorbing wheels, and only one pair of running wheels bears the load-bearing and walking functions at the same time; the multi-machine connection module includes a flexible connection group and a rigid connection group, which can realize multiple two-wheel machines. Free choice between flexible connection and rigid connection, single-machine traction drive and multi-machine collaborative drive of the hanging rail robot. The utility model can adapt to situations with heavy loads and large internal space requirements, and has the advantages of stable straight line walking, strong climbing ability and small turning radius.

Description

A two-wheeled crane rail robot system that can connect multiple machines

Technical field

The utility model relates to the field of orbital robots, and in particular to a two-wheeled hanging rail robot system that can connect multiple machines.

Background technique

At present, general hanging rail robots rarely have a modular design, making it difficult to replace parts and assemble the robot. Moreover, most rail-mounted robots use a simple four-wheel mechanism with motor-driven rolling wheels, so that the rolling wheels can walk along the track. This simple mechanism is suitable for walking in a straight line, but if it encounters a small turning radius, it will easily get stuck or vibrate, making it difficult to meet the requirements. At the same time, rail-mounted robots currently rarely involve different connection combinations of multiple machines. Because a single body has a small load capacity and limited internal space, it cannot carry and drag heavy loads, and is not suitable for applications of large-load rail robots.

To sum up, in order to solve the problems in the existing technology that the hanging rail-type robot cannot adapt to small turning radius and small space and load, and cannot adapt to heavy load application scenarios, the utility model proposes a two-wheeled robot that can be connected to multiple machines. Type crane rail robot system.

Contents of the invention

In view of the above problems, the utility model discloses a two-wheeled hanging rail robot system that can be connected to multiple machines. It adopts a single pair of wheels to realize the load-bearing and walking functions at the same time, and uses the guide shock-absorbing wheel held by the spring to realize compression and guidance, and Combining the optional multi-machine connection mechanism with rigid and flexible connections, and through the optional single-machine traction drive and multi-machine collaborative drive methods, the two-wheeled crane rail robot system that can be connected with multiple machines can adapt to heavy loads, internal It is suitable for occasions with large space requirements and achieves the advantages of stable straight line walking, strong climbing ability and small turning radius.

The utility model is realized by the following solutions:

A two-wheeled crane rail robot system that can be connected to multiple machines, including:

Overall frame with installation space:

There are multiple modules arranged in the installation space. The multiple modules include: a walking module, a transmission module, a control drive module and a multi-machine connection module;

Wherein, the walking module only relies on two wheels for walking;

The multi-machine connection module can realize different connection modes of flexible connection and rigid connection of multiple two-wheeled crane rail robots, as well as free selection of different driving modes of single-machine traction drive and multi-machine collaborative drive;

The multiple modules can jointly complete the straight running, turning and climbing movements of the two-wheeled hanging rail robot and its multiple robots in a multi-machine connection state.

Further, the walking module includes:

A pair of running wheels, connected to one end of the output shaft located inside the side frame, undertakes both load-bearing and traveling functions;

Guide shock-absorbing wheels, namely horizontal guide shock-absorbing wheels and vertical guide shock-absorbing wheels;

There are four horizontal guide shock absorbing wheels, which are respectively arranged at the horizontal guide shock absorbing wheel installation positions; there are four vertical guide shock absorbing wheels, which are respectively installed at the vertical guide shock absorbing wheel installation positions;

The horizontal guide damping wheel has the same structure as the vertical guide damping wheel, only the wheel arrangement direction is different, and both include a packaging sleeve, a damping spring and a small wheel device;

The small wheel device is close to the track and uses a damping spring to reduce vibration when the track is uneven, turning and climbing.

Further, it is characterized in that the multi-machine connection module includes:

Flexible connection group and rigid connection group;

The flexible connection group includes a detachable connector equipped with a cushioning spring and capable of rotating in multiple directions and a connecting pin. The connector is installed on the installation position of the flexible connector. When the flexible connection is selected, multiple sets of the two-wheel The flexible connection groups between the hanging rail robots are connected through the connection pins;

The rigid connection group includes four symmetrically distributed detachable steel frames and connecting buckles, which are installed on the installation positions of the rigid connectors. When rigid connection is selected, the rigid connection between multiple two-wheeled hanging rail robots The connection group is snap-connected through the connection;

The multi-machine connection module can be installed at both ends of the two-wheeled hanging rail robot;

The multi-machine connection module can realize the free selection of different connection methods of flexible connection and rigid connection of multiple two-wheeled hanging rail robots.

Further, the overall frame is in a convex shape and includes a side frame, a bottom plate and a front and rear baffle; the overall frame is symmetrical about the center line of the bottom plate, and the side frame includes a left frame and a right frame, and the two frames have the same specifications; The left frame and the right frame are symmetrically installed on both sides of the base plate, and the front and rear baffles have the same structure and are installed at the front and rear ends of the base plate; two vertical guides are symmetrically provided on both sides of the base plate. As for the installation position of the shock-absorbing wheel, the flexible connection installation position is provided in the middle of the front and rear baffles, and the rigid connection installation position is provided at the four corners of the front and rear baffles.

Further, the left frame and the right frame are both in a 7-shaped shape, and two installation positions for the horizontal guide shock absorbing wheels are symmetrically provided on the top;

Both the left frame and the right frame are provided with bearing installation positions, including two output shaft bearing installation positions, which are symmetrically located in the middle portions of the left frame and the right frame respectively;

Two input shaft bearing installation positions are symmetrically arranged at the bottom of the left frame and the right frame respectively.

Further, the transmission module includes:

Two output shaft bearings are respectively provided at the output shaft installation position; two input shaft bearings are respectively provided at the input shaft installation position;

The two output shafts are respectively installed on the output shaft bearings;

Two input shafts are respectively installed on the input shaft bearings;

Two pairs of transmission mechanisms are respectively provided on the outside of the side frame and connect the input shaft and the output shaft.

Further, the control drive module includes:

Control group and drive group;

The control group includes a control panel and a driver;

The drive group includes a servo motor, a reducer and a differential;

Wherein the control board is connected to the motor driver and is arranged on the base plate;

The servo motor is first connected to the reducer, then connected to the differential, and is arranged on the bottom plate;

wherein the differential is connected to the input shaft through a coupling inside the side frame;

The multi-machine connection module and the control drive module can realize different driving modes of single-machine traction drive and multi-machine cooperative drive under different connection modes of flexible connection and rigid connection for multiple two-wheeled crane rail robots. free choice.

The benefits of this utility model are:

1. This utility model adopts modular design and is easy to assemble, disassemble and replace parts.

2. This utility model uses two wheels. Compared with the common four wheels, the two-wheeled hanging rail robot has a smaller body and a smaller turning radius.

3. This utility model is equipped with a multi-machine connection device to realize different connections of multiple machines, including: flexible connection to form a single-machine traction drive of the train type, that is, only a single robot drives the power, and the other multiple machines follow, and the two adjacent cars The body units can be rotated relatively in the horizontal or vertical direction through flexible connections. This does not affect the turning radius and slope that the overall system can pass. The robot can run on tracks with turns or slopes; rigidly connected multi-machine collaborative drive , that is, multiple machines have their own power and are rigidly connected to form an overall multi-drive system. At this time, the driving force is greater, but the turning radius and slope are limited; it can also be driven by multi-machine collaborative drive with flexible connection, single-machine traction drive with rigid connection, etc. This method freely combines multiple two-wheeled crane rail robots to adapt to more complex application environments.

4. This utility model uses a climbing damping spring and a turning damping spring to change the position of the guide damping wheel relative to the guide rail to comply with the friction characteristics between the track and the guide damping wheel when the small radius guide rail turns, and increases the guide The clamping force of the shock-absorbing wheel on the guide rail reduces slipping or jamming.

5. This utility model adopts the design of horizontal and vertical guide shock-absorbing wheels. The joint action of the horizontal guide shock-absorbing wheels and the vertical guide shock-absorbing wheels enables the two-wheeled hanging rail robot to firmly adhere to the I-shaped track. so that the two-wheeled hanging rail-type robot will not shift or tilt.

Description of drawings

Figure 1 is a schematic diagram of the overall system structure of multi-machine connection of the present invention.

Figure 2 is a schematic diagram of the internal structure of the embodiment of the present utility model.

Figure 3 is an isometric view of the embodiment of the present invention without the front and rear baffles and the multi-machine connection mechanism.

Figure 4 is a front view of the embodiment of the present utility model on the track without the front and rear baffles and the multi-machine connection mechanism.

Figure 5 is a schematic diagram of rigid multi-drive multi-machine connection according to the embodiment of the present utility model.

Figure 6 is a schematic diagram of flexible single-drive multi-machine connection according to the embodiment of the present utility model.

Figure 7 is a schematic connection diagram of a pair of flexible connection groups according to the embodiment of the present invention.

In the picture, 0. I-shaped track, 1. Left frame, 2. First floor plate, 3. Second floor floor, 4. Front and rear baffles, 5. Input shaft bearing, 6. Input shaft, 7. Output shaft, 8 .Output shaft bearing, 9. Pulley, 10. Running wheel, 11. Horizontal guide shock absorber wheel, 12. Vertical guide shock absorber wheel, 13. Damping spring, 14. Control board, 15. Driver, 16. Servo motor, 17. Reducer, 18. Differential, 19. Cushion spring, 20. Detachable connector, 21. Connection pin, 22. Detachable steel frame, 23. Connection buckle

Specific implementation plan

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

As shown in Figure 1, it is a schematic diagram of the overall system structure of the multi-machine connection of the two-wheeled hanging rail robot;

It includes: the two-wheeled hanging rail robot is an integral frame and is provided with an installation space;

There are multiple modules arranged in the installation space. The multiple modules include a walking module, a transmission module, a control drive module and a multi-machine connection module; and are composed of multiple two-wheeled hanging rail robots and their corresponding The multi-machine connection module connects and expands the multi-machine connection two-wheeled crane rail robot system.

As shown in Figures 2 and 3, the internal structure of the embodiment of the two-wheeled hanging rail robot that can be connected to multiple machines includes:

Overall frame with installation space:

There are multiple modules arranged in the installation space. The multiple modules include: a walking module, a transmission module, a control drive module and a multi-machine connection module;

The multi-machine connection module can realize different flexible and rigid connection methods of multiple two-wheeled crane rail robots, as well as free selection of different driving methods of single-machine traction drive and multi-machine collaborative drive;

The overall frame is in a convex shape and includes a left frame 1, a right frame, a first base plate 2, a second base plate 3 and front and rear baffles 4. The left frame and the right frame are based on the second base plate. The central axis is symmetrically installed, and the first floor bottom plate is provided with a pair of installation positions for the vertical guide shock absorbing wheels; the left frame and the right frame are both provided with a pair of installation positions for the horizontal guide shock absorbing wheels on the top inside. As well as the input shaft bearing installation position and the output shaft bearing installation position, the middle part of the front and rear baffles are equipped with flexible connection installation positions, and the four corners of the front and rear baffles are provided with rigid connection installation positions.

In this example, the traveling module includes traveling wheels 10, horizontal guide shock absorbing wheels 11 and vertical guide shock absorbing wheels 12;

The horizontal guide shock absorbing wheel and the vertical guide shock absorbing wheel are both equipped with damping springs 13. The vertical guide shock absorbing wheel and the horizontal guide shock absorbing wheel only have different wheel directions. The two-wheeled hanging rail type The robot adheres firmly to the I-shaped track to achieve stable turning and climbing. The running wheel is installed on the output shaft end located inside the outer frame. The running wheel is pressed on the I-shaped track and is close to the inside of the I-shaped track. The vertical guide damping wheel is installed on the vertical guide damping wheel. The vibration wheel is installed in the installation position, close to the bottom of the I-shaped track.

In this example, the transmission module includes an input shaft 6, an output shaft 7, an input shaft bearing 5, an output shaft bearing 8 and a belt drive. The input shaft is installed on the input shaft bearing and passes through the outer frame. The output shaft bearing Installed on the output shaft bearing installation position, the output shaft is installed on the output shaft bearing and passes through the outer frame. The belt drive includes two pulleys 9 and belts of the same specifications, which are respectively installed on the The input shaft end and the output shaft end outside the outer frame.

In this example, the control drive module includes a control group and a drive group. The control group includes a control board 14 and a driver 15. The drive group includes a servo motor 16, a reducer 17 and a differential 18. The control board is connected in sequence. The driver, the servo motor and the reducer are connected to the differential through a coupling, and the differential is connected to the input shaft inside the outer frame through the coupling. connection, the control group is arranged on the second floor, and the driving group is arranged on the first floor.

In this example, the multi-machine connection module includes a flexible connection group and a rigid connection group, wherein the flexible connection group includes a multi-directional detachable connector 20 equipped with a cushioning spring 19 and a connecting pin 21. A detachable connector 20 equipped with a cushioning spring and capable of rotating in multiple directions is installed on the flexible connector installation position between the two-wheeled hanging rail robots. A plurality of different two-wheeled hanging rail robots are connected through connecting pins 21. The detachable connector 20 equipped with a cushioning spring 19 and capable of rotating in multiple directions can ensure that all two-wheeled hanging rail robots can be flexibly connected through small Radius curves and ramps can pass more complex tracks. The rigid connection group includes four symmetrically distributed detachable steel frames 22 and connection buckles 23. The detachable steel frames are installed on the rigid connectors of the two-wheeled hanging rail robot that can be connected to multiple machines. On the position, multiple two-wheeled hanging rail robots that can be connected to multiple machines are connected through connecting buckles, and multiple sections of the two-wheeled hanging rail robots are rigidly connected through the rigid connection group. At this time, due to the rigid connection, The overall length becomes longer and it cannot pass through small radius curves and ramps. It can become a multi-drive vehicle to increase power. Through the multi-machine connection module, different flexible and rigid connection modes of multiple two-wheeled crane rail robots can be realized, as well as different driving modes of single-machine traction drive and multi-machine collaborative drive can be freely selected. When multiple two-wheeled hanging rail robots need to be connected for movement, you can freely choose rigid or flexible connections. When the other robots except the first two-wheeled hanging rail robot are not powered, you can choose flexible connection. At this time, there is no need to Affects the turning radius and climbing slope of the two-wheeled crane robot. When all two-wheeled crane robots are powered, rigid connection is selected. Multiple two-wheeled crane robots are combined into a whole. At this time, the power However, the turning radius and climbing gradient are limited. In other cases, the connection modes can be freely combined between multiple two-wheeled crane rail robots. The multi-machine connection method allows the entire system to have enough space to load more sensors or cargo.

In this example, the detachable connector equipped with a cushioning spring and capable of rotating in multiple directions is connected to the front and rear baffles through bolts, and the detachable steel rod is connected to the front and rear baffles through threads.

In this example, different parts are connected through angle aluminum and bolts, the necessary parts are welded and fixed, and the transmission shafts are connected through couplings.

As shown in Figure 4, the way this example is combined with the I-shaped track is that the running wheel and the auxiliary wheel are pressed on the track, the horizontal guide damping wheel clamps the inside of the I-shaped track, and the vertical guide damping wheel clamps the inside of the I-shaped track. The vibration wheel presses against the bottom of the I-shaped track.

The operating principle of this example is: the servo motor rotates, the output shaft is driven to rotate through the reducer and the differential, thereby driving the pulley to rotate, and the output shaft is driven to rotate through the belt drive, that is, The running wheel rotates, and the rotating wheel generates relative motion and friction with the I-shaped track, thereby driving the two-wheeled hanging rail robot forward and backward.

During the movement, when the two-wheeled hanging rail robot turns, the differential is used to achieve differential speed and the horizontal guide shock-absorbing wheel is used for shock absorption and guidance to complete a smooth turn. When the hanging rail robot climbs a slope, it uses the vertical guide shock-absorbing wheel to absorb shock to prevent collisions and complete stable climbing.

As shown in Figure 5, Figure 6 and Figure 7, the embodiment of the present invention can realize rigid multi-drive multi-machine connection through the rigid connection group of the multi-machine connection module; it can also be achieved through the flexible connection group of the multi-machine connection module. Flexible single-drive multi-machine connection can be realized; similarly, rigid single-drive multi-machine connection and flexible multi-drive multi-machine connection can also be realized.

As shown in Figure 7, it is a schematic diagram of a pair of flexible connection groups realizing the connection according to the embodiment of the present invention.

To sum up, the example of the present utility model provides a specific implementation and example of the two-wheeled hanging rail robot system that can be connected to multiple machines. The two-wheeled hanging rail robot that can be connected to multiple machines can realize straight-line movement. Walking, small radius turning, climbing and other sports, and through the multi-machine connection mechanism that can be freely selected between rigid and flexible connections, it can also realize different ways of connecting multiple machines.

The above are only specific embodiments of the present disclosure and are not intended to limit the present disclosure; any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure. within.

Claims (7)

1. A two-wheeled hanging rail robot system that can be connected to multiple machines, which is characterized by including: The overall frame consists of side frames, bottom plates and front and rear baffles, with installation space: There are multiple modules arranged in the installation space. The multiple modules include: a walking module, a transmission module, a control drive module and a multi-machine connection module; Wherein, the walking module only relies on two wheels for walking; The multi-machine connection module can realize different connection modes of flexible connection and rigid connection of multiple two-wheeled crane rail robots, as well as free selection of different driving modes of single-machine traction drive and multi-machine collaborative drive; The multiple modules can jointly complete the straight running, turning and climbing movements of the two-wheeled hanging rail robot and its multiple robots in a multi-machine connection state. 2. A two-wheeled hanging rail robot system capable of connecting multiple machines according to claim 1, characterized in that the walking module includes: A pair of running wheels, connected to one end of the output shaft located inside the side frame, undertakes both load-bearing and traveling functions; Guide shock-absorbing wheels, namely horizontal guide shock-absorbing wheels and vertical guide shock-absorbing wheels; There are four horizontal guide shock absorbing wheels, which are respectively arranged at the horizontal guide shock absorbing wheel installation positions; there are four vertical guide shock absorbing wheels, which are respectively installed at the vertical guide shock absorbing wheel installation positions; The horizontal guide shock absorbing wheel has the same structure as the vertical guide shock absorbing wheel, only the wheel arrangement direction is different, and both include an encapsulating sleeve, a damping spring and a small wheel device; The small wheel device is close to the track and uses a damping spring to reduce vibration when the track is uneven, turning and climbing. 3. A two-wheeled hanging rail robot system capable of connecting multiple machines according to claim 2, characterized in that the multi-machine connection module includes: Flexible connection group and rigid connection group; The flexible connection group includes a detachable connector equipped with a cushioning spring and capable of rotating in multiple directions and a connecting pin. The connector is installed on the installation position of the flexible connector. When the flexible connection is selected, multiple sets of the two-wheel The flexible connection groups between the hanging rail robots are connected through the connection pins; The rigid connection group includes four symmetrically distributed detachable steel frames and connecting buckles, which are installed on the installation positions of the rigid connectors. When rigid connection is selected, the rigid connection between multiple two-wheeled hanging rail robots The connection group is snap-connected through the connection; The multi-machine connection module can be installed at both ends of the two-wheeled hanging rail robot; The multi-machine connection module can realize the free selection of different connection methods of flexible connection and rigid connection of multiple two-wheeled hanging rail robots. 4. A two-wheeled hanging rail robot system capable of connecting multiple machines according to claim 3, characterized in that the overall frame is in a convex shape and includes a side frame, a bottom plate and a front and rear baffle; The frame is symmetrical about the center line of the base plate. The side frame includes a left frame and a right frame, and the two frames have the same specifications. The left frame and the right frame are symmetrically installed on both sides of the base plate, and the front and rear baffles have the same structure. And installed on the front and rear ends of the base plate; two vertical guide shock absorbing wheel installation positions are symmetrically provided on both sides of the base plate, and the flexible connector installation positions are provided in the middle of the front and rear baffles. The four corners of the front and rear baffles are provided with mounting positions for the rigid connectors. 5. A two-wheeled hanging rail robot system capable of connecting multiple machines according to claim 4, characterized in that the left frame and the right frame are both in a 7-shape, and two symmetrical frames are respectively provided on the top. The installation position of the horizontal guide shock absorber wheel; Both the left frame and the right frame are provided with bearing installation positions, including two output shaft bearing installation positions, which are symmetrically located in the middle portions of the left frame and the right frame respectively; Two input shaft bearing installation positions are symmetrically arranged at the bottom of the left frame and the right frame respectively. 6. A two-wheeled hanging rail robot system capable of connecting multiple machines according to claim 5, characterized in that the transmission module includes: Two output shaft bearings are respectively provided at the output shaft installation position; two input shaft bearings are respectively provided at the input shaft installation position; The two output shafts are respectively installed on the output shaft bearings; Two input shafts are respectively installed on the input shaft bearings; Two pairs of transmission mechanisms are respectively provided on the outside of the side frame and connect the input shaft and the output shaft. 7. A two-wheeled hanging rail robot system capable of connecting multiple machines according to claim 6, characterized in that the control drive module includes: Control group and drive group; The control group includes a control panel and a driver; The drive group includes a servo motor, a reducer and a differential; Wherein the control board is connected to the driver and is arranged on the base plate; The servo motor is first connected to the reducer, then connected to the differential, and is arranged on the bottom plate; wherein the differential is connected to the input shaft through a coupling inside the side frame; The multi-machine connection module and the control drive module can realize different driving modes of single-machine traction drive and multi-machine cooperative drive under different connection modes of flexible connection and rigid connection for multiple two-wheeled crane rail robots. free choice.