CN107363445A - One kind building town road environmental protection welding robot - Google Patents
One kind building town road environmental protection welding robot Download PDFInfo
- Publication number
- CN107363445A CN107363445A CN201710611656.0A CN201710611656A CN107363445A CN 107363445 A CN107363445 A CN 107363445A CN 201710611656 A CN201710611656 A CN 201710611656A CN 107363445 A CN107363445 A CN 107363445A
- Authority
- CN
- China
- Prior art keywords
- frame
- hollow shaft
- support arm
- motor
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses one kind building town road environmental protection welding robot, including frame, the frame is provided with four groups of walking mechanisms, walking mechanism described in four groups is respectively arranged at the front and back position of frame both sides, the walking mechanism includes hollow shaft and solid shafting, the hollow shaft sleeve is located at solid shafting outer ring, connected between the hollow shaft and solid shafting by bearing, the hollow shaft outer ring is connected on the side arm of frame by bearing, the outer ring of the hollow shaft is located at shell outside first support arm that is connected, the both ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, first support arm and the second support arm are located at the both sides of hollow shaft axis respectively.The present invention adapts to complicated landform by four groups of walking mechanisms, the walking of achievable robot, and each walking mechanism can be separately adjustable, cooperates, has a variety of walking manners, frame can be by the regulation of walking mechanism come adjustable height.
Description
Technical field
The present invention relates to robotic technology field, particularly relates to a kind of building town road environmental protection welding robot.
Background technology
The walking of the robot of prior art can be realized in several ways, but the equal Shortcomings in flexibility
Part, complicated landform can not be adapted to, is easily tumbled, be easily damaged robot in itself in collision in addition, lack protection device；It is existing
The plumb joint malfunction filled in some robots is, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of building town road environmental protection welding robot, to solve
Robot can not adapt to complicated landform in the prior art, lack protection device, and the technical problem of plumb joint malfunction.
In order to solve the above technical problems, embodiments of the invention provide a kind of building town road environmental protection welding machine
People, including frame, the frame are provided with four groups of walking mechanisms, and walking mechanism described in four groups is respectively arranged on the front and rear of frame both sides
Opening position, the walking mechanism include hollow shaft and solid shafting, and the hollow shaft sleeve is located at solid shafting outer ring, the hollow shaft with
Connected between solid shafting by bearing, the hollow shaft outer ring is connected on the side arm of frame by bearing, the hollow shaft
Outer ring is located at shell outside first support arm that is connected, and the both ends of the solid shafting grow hollow shaft, the outer ring of the solid shafting
The second support arm is provided with shell outside, first support arm and the second support arm are located at the two of hollow shaft axis respectively
Side, the outer end of first support arm are connected with the 3rd support arm by rotating shaft, and the outer end of second supporting part passes through
Rotating shaft is connected with the 4th support arm, and the other end of the 3rd support arm is with the other end of the 4th support arm by turning
Axle is connected, and is provided with first gear at frame inner side in the hollow shaft, the side arm of the frame is provided with the first motor, institute
The first motor is stated by meshed transmission gear in first gear, the end that the solid shafting is located at on the inside of frame is provided with the second tooth
Take turns, be additionally provided with the second motor on the side arm of the frame, second motor is by meshed transmission gear in second gear；
Buffer unit is provided with front of the frame, the buffer unit includes dsah-pot, the both ends of the dsah-pot
It is closed, the rear end of the buffering tube inner chamber is provided with big spring and little spring, and the big spring is sheathed on little spring and is in
Arranged concentric, the axis of the big spring and little spring overlap with the axis of dsah-pot, after the big spring and little spring
End is each attached on the rear end of dsah-pot, and the height of the big spring is higher than the height of little spring, and the front end of the little spring is set
There is sliding axle, the diameter of the sliding axle is less than the internal diameter of big spring and more than the external diameter of little spring, the axis of the sliding axle
Overlapped with the axis of dsah-pot, the middle part of the dsah-pot front end is provided with through hole, and the front end of the sliding axle passes through the through hole
Reach outside dsah-pot, and in being slidably matched between the sliding axle and the through hole, the sliding axle is fixedly arranged at the front end with buffering
Plate, is installed with annular boss on that section of sliding axle between the big spring front end and dsah-pot front end, the annular boss it is straight
Footpath is more than the internal diameter of the big spring；
The rear of the frame is provided with manipulator, and the manipulator includes the housing being installed in frame, in the housing
The 3rd motor and the 4th motor are installed with, the manipulator also includes a U-shaped frame, and the both ends of the U-shaped frame are laterally
Socket part is respectively extended vertically, shell one end portion both sides are rotationally connected with two socket parts of the U-shaped frame by bearing
Lateral surface on, described two socket part medial surfaces are rotatably connected to rotary shaft by bearing, and the rotary shaft is provided with actively
Gear, rotate on the middle part of the U-shaped frame and be provided with mechanical arm rotating shaft, the arm pivoted axis of machinery is located at same with U-shaped frame
In plane, the medial extremity in the mechanical arm rotating shaft positioned at U-shaped frame is provided with driven gear to be meshed with the driving gear,
Outboard end in the mechanical arm rotating shaft positioned at U-shaped frame is provided with L-type mechanical arm, and the outer end of the L-type mechanical arm is provided with plumb joint,
The first belt pulley is additionally provided with the socket part, the 3rd motor is by belt transmission in the first belt pulley, the rotary shaft
On be additionally provided with the second belt pulley, the 4th motor is by belt transmission in the second belt pulley.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, by four groups of walking mechanisms the walking of robot can be achieved, and adapt to intricately in the present invention
Shape, each walking mechanism can be separately adjustable, cooperate, have a variety of walking manners, frame can pass through the regulation of walking mechanism
Carry out adjustable height, there is practicality；Due to robot provided with buffer unit, can be protected to preserve from or mitigate injury；Due to setting
Have can the manipulator of flexible rotating be used for weld job, there is practicality.
Brief description of the drawings
Fig. 1 is the stereogram of the present invention.
Fig. 2 is the stereogram of the walking mechanism of the present invention.
Fig. 3 is the schematic diagram of the touchdown point of the walking mechanism of the present invention.
Change schematic diagram one when Fig. 4 is the walking of the walking mechanism of the present invention.
Change schematic diagram two when Fig. 5 is the walking of the walking mechanism of the present invention.
Change schematic diagram three when Fig. 6 is the walking of the walking mechanism of the present invention.
Fig. 7 is change schematic diagram of the walking mechanism of the present invention when being adjusted for bracket height.
Fig. 8 is the structure chart of the buffer unit of the present invention.
Fig. 9 is the structure chart of the manipulator of the present invention.
Figure 10 is the part-structure figure one of the manipulator of the present invention.
Figure 11 is the part-structure figure two of the manipulator of the present invention.
Figure 12 is the part-structure figure three of the manipulator of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
For convenience of description, before left direction is in Fig. 1, after right direction is.
As shown in Figures 1 to 6, the embodiment of the present invention provides a kind of building town road environmental protection welding robot, including
Horizontally disposed frame 1, the frame 1 are provided with four groups of walking mechanisms 2, and walking mechanism 2 described in four groups is respectively arranged on 1 liang of frame
At the front and back position of side, position is respectively front left side, forward right side, left rear side, the right lateral side of frame 1, is pacified similar to automobile four-wheel
Holding position, the walking mechanism 2 include hollow shaft 21 and solid shafting 22, and the hollow shaft 21 is sheathed on the outer ring of solid shafting 22, institute
State and prior art is connected as by bearing connection (not shown), bearing between hollow shaft 21 and solid shafting 22, therefore not to repeat here,
Being coaxially disposed by the achievable hollow shaft 21 of bearing connection with solid shafting 22 can mutually relatively rotate, and be independent of each other, the hollow shaft
21 outer rings are connected to by bearing on the side arm of frame 1, and the hollow shaft 21 is horizontally disposed with solid shafting 22, the hollow shaft 21
Outer ring be located at the outside of frame 1 be connected the first support arm 23, the both ends of the solid shafting 22 grow hollow shaft 21, described solid
The outer ring of axle 22 is located at the outside of frame 1 and is provided with the second support arm 24, and first support arm 23 is distinguished with the second support arm 24
Positioned at the both sides of the axis of hollow shaft 21, the outer end of first support arm 23 is connected with the 3rd support arm 25, institute by rotating shaft 3
The outer end for stating the second supporting part 24 is connected with the 4th support arm 26, the other end of the 3rd support arm 25 by rotating shaft 3
It is connected with the other end of the 4th support arm 26 by rotating shaft 3, positioned at the inner side of frame 1 place provided with the in the hollow shaft 21
One gear 27, the side arm of the frame 1 are provided with the first motor 4, and first motor 4 is by meshed transmission gear in the first tooth
Wheel 27, the end that the solid shafting 22 is located at the inner side of frame 1 are provided with second gear 28, are additionally provided with the side arm of the frame 1
Second motor 5, second motor 5 is by meshed transmission gear in second gear 28.First support arm 23, the second support arm
24th, the 3rd support arm 25, the 4th support arm 26 constitute the walking mechanism of a quadrangle, the 3rd support arm 25 and the 4th support
The junction of arm 26 is touchdown point 6 (as shown in Figure 3), therefore can be by the 3rd support arm 25 and the 4th support arm 26 and ground
Tactile end do it is in the arc-shaped, it is more smooth when touching walking mechanism and ground.Used provided with video camera 7 top of frame 1
Imaged in road surface ahead situation.
A kind of motion mode is described below, as shown in figure 4, the initial position of walking mechanism is in figure shown in solid line position,
Four walking mechanisms 2 drive hollow shaft 21 to rotate so as to drive the first support arm 23 to turn in the counterclockwise direction by the first motor 4
Move to shown position, the rotation of the first motor 4 driving hollow shaft 21 is the motion with acceleration, the second motor 5 do not rotate from
And the second support arm 24 remains stationary as, therefore touchdown point 6 moves to the obliquely downward of rear side, therefore has given frame one forward and up
Driving force, as shown in figure 5, then the first motor 4 is rotated clockwise so as to drive the first support arm 23 to turn along clockwise direction
Move to shown position, the second motor 5 is rotated counterclockwise so as to drive the second support arm 24 to turn to diagram position in the counterclockwise direction
Put, touchdown point 6 moves to the oblique upper of front side, and touchdown point 6 is liftoff, frame is soared liftoff, as shown in fig. 6, then the first electricity
Machine 4 is rotated counterclockwise so as to drive the first support arm 23 to turn to shown position in the counterclockwise direction, and the second motor 5 turns clockwise
It is dynamic oliquely downward to move forward, land so as to drive the second support arm 24 to be rotated in the clockwise direction to shown position, touchdown point 6
Point contacts with ground, completes a period of motion, and the step can make robot bound forward.Other similar walkings, running
Step will not be repeated here.
The walking mechanism for the quadrangle being made up of 4 support arms, as long as the first support arm and second by motor control
The position of support arm, the position of that touchdown point is what is be to determine, therefore can realize accurate motion.
As shown in fig. 7, walking mechanism 2 can also be by the way that the first motor 4 be rotated clockwise, the second motor 5 turns counterclockwise
It is dynamic, move up touchdown point 6, rear 6 touchdown point will be moved up as the starting point moved, can thus realize frame 1 from
Ground level have adjusted.
As illustrated in figures 1 and 8, the front of frame 1 is provided with buffer unit 7, and the buffer unit 7 includes dsah-pot
71, the both ends of the dsah-pot 71 are closed, and the rear end of the inner chamber of dsah-pot 1 is provided with big spring 72 and little spring 73,
The big spring 72 is sheathed on little spring 73 and is in arranged concentric, and the axis of the big spring 72 and little spring 73 is and dsah-pot
71 axis is overlapped, and the rear end of the big spring 72 and little spring 73 is each attached on the rear end of dsah-pot 71, the big spring
72 height is higher than the height of little spring 73.The front end of the little spring 73 is provided with sliding axle 74, the diameter of the sliding axle 74
Internal diameter less than big spring 72 and the external diameter more than little spring 73, the axis of the sliding axle 74 and the axis weight of dsah-pot 71
Close, the middle part of the front end of dsah-pot 71 is provided with through hole 711, and the front end of the sliding axle 74 reaches through the through hole 711
Outside dsah-pot 71, and in being slidably matched between the sliding axle 74 and the through hole 711, being fixedly arranged at the front end with for the sliding axle 74 is slow
Punching 75.Annular boss 76 is installed with that section of sliding axle 74 between the front end of big spring 72 and the front end of dsah-pot 71, it is described
The diameter of annular boss 76 is more than the internal diameter of the big spring 72.
When needing to play the cushioning effect of buffer unit, the exotic damping of shocks plate 75 with certain speed makes slip
Axle 74 is moved rearwards, and so as to compress little spring 73, little spring 73 produces reaction force to external thing, when the impulse force of exotic is excessive
So that after buffer board 75 slides backward to a certain degree, the annular boss 76 of sliding axle 74 starts to compress big spring 72, now large and small
Spring produces reaction force to external thing simultaneously, so as to realize the function of buffering.
As shown in Fig. 1, Fig. 9 to Figure 12, the rear of the frame 1 is provided with manipulator 8, and the manipulator 8 includes being installed on
Housing 81 in frame 1, the 3rd motor 82 and the 4th motor 83 is installed with the housing 81, the manipulator 8 also wraps
A U-shaped frame 84 is included, the both ends of the U-shaped frame 84 have respectively extended vertically socket part 841, the one end two of housing 81 laterally
Side is rotationally connected with by bearing on the lateral surface of two socket parts 841 of the U-shaped frame 84, in described two socket parts 841
Side is rotatably connected to rotary shaft 85 by bearing, and the rotary shaft 85 is provided with driving gear 86, the middle part of the U-shaped frame 84
Upper rotation is provided with mechanical arm rotating shaft 87, and the axis of the mechanical arm rotating shaft 87 is generally aligned in the same plane interior, the machinery with U-shaped frame 84
Medial extremity in arm rotating shaft 87 positioned at U-shaped frame 84 is provided with driven gear 88 to be meshed with the driving gear 86, the machine
Outboard end in tool arm rotating shaft 87 positioned at U-shaped frame 84 is provided with L-type mechanical arm 89, and the outer end of the L-type mechanical arm 89 is provided with welding
First 90, the first belt pulley 91 is additionally provided with the socket part 841, and the 3rd motor 82 is by belt transmission in the first belt pulley
91, the second belt pulley 92 is additionally provided with the rotary shaft 85, and the 4th motor 83 is by belt transmission in the second belt pulley 92.
The output end of 3rd motor 82 and the 4th motor 83 is located at phase heteropleural, in order to avoid interference.
Robot work principle is as follows：4th motor 83 drives driving wheel to rotate, and the 3rd motor 82 remains stationary as, driving tooth
The engagement driven gear 88 of wheel 86 rotates driven gear 88, therefore mechanical arm rotates around the arm pivoted axis of machinery；3rd motor
82 drive U-shaped frame 84 to rotate, and the 4th motor 83 remains stationary as, and U-shaped frame driving mechanical arm rotating shaft rotates around the axis of rotary shaft, together
When driven gear rotated by being influenceed under the pressure of fixed driving gear engagement so that mechanical arm rotating shaft is around its own axle
Line rotates；When the 3rd motor and the 4th motor synchronous axial system, i.e., when angular speed is identical, mechanical arm rotating shaft is only around rotary shaft
Axis rotate.Therefore it is engaged by the 3rd motor 82 and the 4th motor 83, it is spatially flexible that mechanical arm can be achieved
Motion.
Manipulator is installed in frame, and the operation of freedom and flexibility can be achieved, can reduce that instrument in traditional work is various to ask
Topic, has the feature of environmental protection.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (1)
1. one kind building town road environmental protection welding robot, including frame, the frame is provided with four groups of walking mechanisms, four
The group walking mechanism is respectively arranged at the front and back position of frame both sides, it is characterised in that the walking mechanism includes hollow shaft
And solid shafting, the hollow shaft sleeve are located at solid shafting outer ring, connected between the hollow shaft and solid shafting by bearing, the sky
Mandrel outer ring is connected on the side arm of frame by bearing, and the outer ring of the hollow shaft is located at shell outside first support that is connected
Arm, the both ends of the solid shafting grow hollow shaft, and the outer ring of the solid shafting, which is located at shell outside, is provided with the second support arm, institute
The both sides that the first support arm and the second support arm are located at hollow shaft axis respectively are stated, the outer end of first support arm is by turning
Axis connection has the 3rd support arm, and the outer end of second supporting part is connected with the 4th support arm by rotating shaft, described 3rd
The other end of brace is connected with the other end of the 4th support arm by rotating shaft, in the hollow shaft on the inside of frame
Place is provided with first gear, and the side arm of the frame is provided with the first motor, and first motor is by meshed transmission gear in the
One gear, the end that the solid shafting is located at on the inside of frame are provided with second gear, second are additionally provided with the side arm of the frame
Motor, second motor is by meshed transmission gear in second gear；
Buffer unit is provided with front of the frame, the buffer unit includes dsah-pot, and the both ends of the dsah-pot are
Closed, the rear end of the buffering tube inner chamber are provided with big spring and little spring, and the big spring is sheathed on little spring and in concentric
Arrangement, the axis of the big spring and little spring overlap with the axis of dsah-pot, and the rear end of the big spring and little spring is equal
It is fixed on the rear end of dsah-pot, the height of the big spring is higher than the height of little spring, and the front end of the little spring, which is provided with, to be slided
Moving axis, the diameter of the sliding axle are less than the internal diameter of big spring and more than the external diameter of little spring, and the axis of the sliding axle is with delaying
The axis for rushing cylinder overlaps, and the middle part of the dsah-pot front end is provided with through hole, and the front end of the sliding axle is stretched out through the through hole
To outside dsah-pot, and in being slidably matched between the sliding axle and the through hole, the sliding axle is fixedly arranged at the front end with buffer board, institute
State and annular boss is installed with that section of sliding axle between big spring front end and dsah-pot front end, the diameter of the annular boss is more than
The internal diameter of the big spring；
The rear of the frame is provided with manipulator, and the manipulator includes the housing being installed in frame, fixed in the housing
3rd motor and the 4th motor are installed, the manipulator also includes a U-shaped frame, and the both ends of the U-shaped frame are each laterally to hang down
Straight to be extended with socket part, shell one end portion both sides are rotationally connected with the outer of two socket parts of the U-shaped frame by bearing
On side, described two socket part medial surfaces are rotatably connected to rotary shaft by bearing, and the rotary shaft is provided with driving gear,
Rotated on the middle part of the U-shaped frame and be provided with mechanical arm rotating shaft, the arm pivoted axis of machinery is generally aligned in the same plane with U-shaped frame
Interior, the medial extremity in the mechanical arm rotating shaft positioned at U-shaped frame is provided with driven gear to be meshed with the driving gear, described
Outboard end in mechanical arm rotating shaft positioned at U-shaped frame is provided with L-type mechanical arm, and the outer end of the L-type mechanical arm is provided with plumb joint, described
Be additionally provided with the first belt pulley on socket part, the 3rd motor by belt transmission on the first belt pulley, the rotary shaft also
Provided with the second belt pulley, the 4th motor is by belt transmission in the second belt pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611656.0A CN107363445B (en) | 2017-07-25 | 2017-07-25 | A kind of building town road environmental protection welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710611656.0A CN107363445B (en) | 2017-07-25 | 2017-07-25 | A kind of building town road environmental protection welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107363445A true CN107363445A (en) | 2017-11-21 |
| CN107363445B CN107363445B (en) | 2019-06-07 |
Family
ID=60308607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710611656.0A Active CN107363445B (en) | 2017-07-25 | 2017-07-25 | A kind of building town road environmental protection welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107363445B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| JPS6243370A (en) * | 1985-08-22 | 1987-02-25 | Mitsubishi Heavy Ind Ltd | Control method for leg wheel type moving robot |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
| CN102806951A (en) * | 2012-08-07 | 2012-12-05 | 北方工业大学 | Frog-inspired biomimetic jumping robot |
-
2017
- 2017-07-25 CN CN201710611656.0A patent/CN107363445B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527650A (en) * | 1983-03-18 | 1985-07-09 | Odetics, Inc. | Walking machine |
| JPS6243370A (en) * | 1985-08-22 | 1987-02-25 | Mitsubishi Heavy Ind Ltd | Control method for leg wheel type moving robot |
| CN101244729A (en) * | 2008-03-26 | 2008-08-20 | 西北工业大学 | Structure of robot simulating leg jump of kangaroo |
| CN202320570U (en) * | 2011-12-08 | 2012-07-11 | 浙江大学 | Jumping robot based on two-mass model structure |
| CN102806951A (en) * | 2012-08-07 | 2012-12-05 | 北方工业大学 | Frog-inspired biomimetic jumping robot |
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| Publication number | Publication date |
|---|---|
| CN107363445B (en) | 2019-06-07 |
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Effective date of registration: 20200918 Address after: 239000 No.66 Tianle Road, Chuzhou City, Anhui Province Patentee after: ANHUI SANJIANG CONSTRUCTION ENGINEERING Co.,Ltd. Address before: Xiangshan County, Zhejiang city of Ningbo province 315700 Tu CI Zhen Tang Ao Village No. 31 Patentee before: Zhong Xianhui |
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