CN105945914B - A kind of bottom is equipped with the robot of a pair of of base body - Google Patents
A kind of bottom is equipped with the robot of a pair of of base body Download PDFInfo
- Publication number
- CN105945914B CN105945914B CN201610368783.8A CN201610368783A CN105945914B CN 105945914 B CN105945914 B CN 105945914B CN 201610368783 A CN201610368783 A CN 201610368783A CN 105945914 B CN105945914 B CN 105945914B
- Authority
- CN
- China
- Prior art keywords
- pair
- pilot hole
- roller
- base body
- rail
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses the robot that a kind of bottom is equipped with a pair of of base body, the bottom of robot is equipped with a pair of symmetrical base body, and base body includes hollow base body, the base lid covered in base body；Opened up on the side wall of base body in strip and the guide through hole that is obliquely installed, is equipped with front and rear symmetrical two idler wheel mechanisms in base body, base cover body is interior to be equipped with roller driving mechanism.Robot sets two forearms, and two forearms are installed in large arm by split mechanism.In practical operation, roller driving mechanism drives two idler wheel mechanism actions, and the roller of two idler wheel mechanism drivings thereon is along guide through hole inclination movement, in this way, the roller of downlink contacts with ground and holds up base body, whole robot can move freely.Two forearms can both be rotated by the relatively large arm of split mechanism, and two forearms can also make opposite rotation under the driving of split mechanism, to adapt to various processing operating modes.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot of bottom equipped with a pair of of base body.
Background technology
The application for a patent for invention of Application No. CN201210566463.5 discloses a kind of light-duty six axis all-purpose robot, axis
Seat is fixed on arm axle, and axle bed guard box is fixed with axle bed, and Three-axis drive motor, the 4th axis driving motor, the 5th axis drive
Dynamic motor and the 6th axis driving motor is placed in axle bed guard box；Forearm rod shell and forearm lengthening rod shell are separately fixed at small
The front and rear part of arm retarder, the 6th axis sleeve is in the 5th axis, and the 5th axis sleeve is in the 4th axis, and sleeve is in forearm in the 4th axis
Rod shell, forearm retarder and forearm are lengthened in rod shell, be respectively fixed with the 4th axis, the 5th axis and the 6th axis the 4th axis from
Moving gear, the 5th axis driven gear and the 6th axis driven gear.
The content of the invention
Technical problem solved by the invention：First, light-duty six axis all-purpose robot of the prior art, base body is fixed
Set, be not easy to the movement of robot；Second, light-duty six axis all-purpose robot of the prior art, it has a forearm, makes
Whole machine task efficiency is difficult to get a promotion.
In order to solve the above technical problems, the present invention provides following technical solution：
A kind of bottom is equipped with the robot of a pair of of base body, including bottom plate, the waist transfer part that is articulated on the plate of bottom
Part, the large arm being articulated on waist rotation member, the forearm in large arm, the adjutage on forearm, waist rotation member around
Bottom Plate rotating, large arm are rotated around waist rotation member；
The bottom of the bottom plate is equipped with base body, and the base body includes hollow base body, covers in base
Base lid in main body；First pair of symmetrical pilot hole and second pair or so pair are opened up on the side wall of the base body
The pilot hole of title, first pair of pilot hole and second pair of pilot hole are in strip and are obliquely installed, first pair of pilot hole and second pair
It is symmetrical arranged before and after pilot hole；Include in the base body equipped with symmetrical idler wheel mechanism before and after a pair, the idler wheel mechanism
The guide assembly of fixed setting, the slide block assembly being slidably matched with guide assembly, on slide block assembly and symmetrical set
A pair of of roller shaft for putting, be installed on a pair of of the roller on a pair of of roller shaft and being symmetrical set in a manner of one-to-one；Before being located at
A pair of of roller shaft of the idler wheel mechanism of side coordinates in first pair of pilot hole, and a pair of of the roller shaft for the idler wheel mechanism being located behind is matched somebody with somebody
Close in second pair of pilot hole；Roller driving mechanism is equipped with the base cover body, roller driving mechanism couples with slide block assembly,
Roller driving mechanism driving slide block assembly is slided along guide assembly；
The quantity of the forearm is two, is respectively the first forearm and the second forearm, and two forearms are pacified by split mechanism
In large arm；The split mechanism includes the first Split type supporting stand, the spool being articulated on the first Split type supporting stand, is fixed on spool
The ratchet at both ends, the second Split type supporting stand being articulated on spool, the telescopic rod for connecting the first Split type supporting stand and the second Split type supporting stand；
First Split type supporting stand is equipped with the first elastic card being caught in hook tooth, drives the disengaging of the first elastic card to be connect with ratchet
Tactile first driving means, second Split type supporting stand are equipped with the second elastic card being caught in hook tooth, drive the second bullet
Property card depart from the second driving device for being contacted with ratchet；The ratchet includes being fixed on the first ratchet and the fixation of spool left end
In the second ratchet of spool right end, the first ratchet and the second coaxial ratchet and oppositely arranged；The 3rd electricity is fixed with the large arm
Machine, the output shaft of the 3rd motor couple with spool；First forearm is installed on the first Split type supporting stand, and the second forearm is installed on
On second Split type supporting stand.
By above-mentioned technical proposal, a kind of bottom of the present invention is equipped with the operation principle of the robot of a pair of of base body such as
Under：
First, bottom plate is installed on the base lid of base body.When robot need to move, roller driving mechanism driving
Slide block assembly in front and rear symmetrically arranged two idler wheel mechanisms is slided along guide assembly, and slide block assembly is transported in two idler wheel mechanisms
Capable direction is on the contrary, sliding block group in the idler wheel mechanism that the slide block assembly in the idler wheel mechanism in front moves ahead and is located behind
Row after part, the slide block assembly in the idler wheel mechanism in front drive a pair of of roller shaft to be tilted towards gliding along first pair of pilot hole
Dynamic, the slide block assembly in the idler wheel mechanism being located behind drives a pair of of roller shaft to be slided diagonally downward along second pair of pilot hole, position
A pair of of roller shaft in the idler wheel mechanism in front drives a pair of of roller thereon to move diagonally downward, the roller machine being located behind
A pair of of roller shaft in structure drives a pair of of roller thereon to move diagonally downward, in this way, the bottom of two pairs of rollers is less than base master
The bottom surface of body and contacted with ground, robot can be moved on the ground by two pairs of rollers.When robot need to fix, in roller
Under the driving of driving mechanism, two pairs of rollers reset, in this way, the bottom of two pairs of rollers departs from and ground higher than the bottom surface of base body
Face contacts, and the bottom surface of base body is directly contacted with ground, and robot can fix on the ground.
Second, under the driving of the 3rd motor, split mechanism and two forearms thereon can be rotated relative to large arm.When two
When angle between forearm need to change, first driving means are driven the first elastic card to depart from and are contacted with ratchet, alternatively, second drives
Dynamic device drives the second elastic card to depart from and is contacted with ratchet, and afterwards, stretching for telescopic rod can drive the first Split type supporting stand and the
Diad stent relatively rotates, the variable angle between the first Split type supporting stand and the second Split type supporting stand, and then, two forearms it
Between angle obtain required change；Afterwards, the first elastic card or the second elastic card reset, and are caught in the first ratchet and second
In the tooth of ratchet, since the first ratchet and the second ratchet are oppositely arranged, the side of the tooth of the tooth of the first ratchet and the second ratchet
To on the contrary, in this way, the first elastic card or the second elastic card that are caught at the same time in the tooth of the first ratchet and the second ratchet can
Limit the first Split type supporting stand or the second Split type supporting stand rotates.
Through the above technical solutions, the present invention has the following technical effect that：First, base body is equipped with six axis machines of roller
People can facilitate robot to move；Second, two forearms can both be rotated relative to large arm, and two forearms can also make opposite rotation,
To adapt to various processing operating modes, the operating efficiency of hoisting machine people.
One kind of base body is illustrated as the present invention, first pair of symmetrical pilot hole includes the first pilot hole and the
Two pilot holes, second pair of symmetrical pilot hole include the 3rd pilot hole and the 4th pilot hole, and the first pilot hole and the 3rd is led
It is opened in hole on the left side wall of base body, the second pilot hole and the 4th pilot hole are opened on the right side wall of base body；
First pilot hole and the 3rd pilot hole are in splayed on the left side wall of base body, and second pilot hole and the 4th lead
On the right side wall of base body it is in splayed to hole.Symmetrical idler wheel mechanism includes the first idler wheel mechanism and second before and after a pair
It is symmetrical arranged before and after idler wheel mechanism, the first idler wheel mechanism and the second idler wheel mechanism；First idler wheel mechanism includes the of fixed setting
One guide assembly, the first slide block assembly being slidably matched with the first guide assembly, on the first slide block assembly and left and right is right
Claim first pair of roller shaft of setting, the first couple rolling on first pair of roller shaft and being symmetrical set is installed in a manner of one-to-one
Wheel；Second idler wheel mechanism includes the second guide assembly of fixed setting, the second sliding block group being slidably matched with the second guide assembly
Part, on the second slide block assembly and be symmetrical set second pair of roller shaft, in a manner of one-to-one be installed on second pair
On roller shaft and second pair of roller being symmetrical set；First pair of roller shaft is oriented to through the first pilot hole and second
Hole, second pair of roller shaft pass through the 3rd pilot hole and the 4th pilot hole, and first pair of roller and second pair of roller are respectively positioned on base master
The outside of body.The roller driving mechanism couples with the first slide block assembly and the second slide block assembly, roller driving mechanism driving the
One slide block assembly is slided along the first guide assembly, and roller driving mechanism drives the second slide block assembly to be slided along the second guide assembly,
First slide block assembly drives first pair of roller shaft to be slided along the first pilot hole and the second pilot hole, and the second slide block assembly drives second
Roller shaft is slided along the 3rd pilot hole and the 4th pilot hole.
As described above, the operation principle of base body is as follows：First, when robot need to move, roller driving mechanism driving
First slide block assembly is slided along the first guide assembly, and the second slide block assembly is slided along the second guide assembly, the first slide block assembly and
The direction of second slide block assembly operation is on the contrary, the first slide block assembly moves ahead and capable after the second slide block assembly, the first slide block assembly band
Move first pair of roller shaft to slide diagonally downward along first through hole and the second through hole, the second slide block assembly drives second pair of roller shaft edge
Third through-hole and fourth hole slide diagonally downward, and first pair of roller shaft drives first pair of roller thereon to move diagonally downward,
Second pair of roller shaft drives second pair of roller thereon to move diagonally downward, in this way, the bottom of first pair of roller and second pair of roller
Portion is contacted less than the bottom surface of base body with ground, and robot can be by first pair of roller and second pair of roller on the ground
It is mobile；When robot need to fix, roller driving mechanism drives the first slide block assembly to be slided along the first guide assembly, the second sliding block group
Part is slided along the second guide assembly, and the direction of the first slide block assembly and the operation of the second slide block assembly is on the contrary, after the first slide block assembly
Row and the second slide block assembly moves ahead, the first slide block assembly drive first pair of roller shaft tilted upward along first through hole and the second through hole
Slide, the second slide block assembly drives second pair of roller shaft to tilt upward slip, first pair of roller along third through-hole and fourth hole
Axis drives first pair of roller thereon to tilt upward movement, and second pair of roller shaft drives second pair of roller to be thereon tilted towards moving up
It is dynamic, in this way, the bottom of first pair of roller and second pair of roller departs from and is contacted with ground higher than the bottom surface of base body, base master
The bottom surface of body is directly contacted with ground, and robot can fix on the ground.
One kind of base body is illustrated as the present invention, first guide assembly includes being fixed in base body
The first fixed plate, the first left rail for being symmetrical set and being fixed in the first fixed plate and the first right guide rail, positioned at
Between one left rail and the first right guide rail and the first intermediate rail for being fixed in the first fixed plate；The first slide block assembly bag
The first right sliding block for include the first left slider being slidably fitted on the first left rail, being slidably fitted on the first right guide rail, slip
Coordinate the first intermediate slider in the first intermediate rail；First pair of roller shaft rolls left wheel shaft and the first right rolling including first
Wheel shaft, first rolls left wheel shaft on the first left slider, and the first right roller shaft is installed on the first right sliding block, the first left wheel
Axis is slidably fitted in the first pilot hole, and the first right roller shaft is slidably fitted in the second pilot hole, first pair of roller bag
The first left wheel and the first right roller are included, the first left wheel rolls left on wheel shaft installed in first, and the first right roller is installed on first
On right roller shaft, first left slider and the first right sliding block are connected with the first intermediate slider, in roller driving mechanism and first
Between sliding block couple；First left rail, the first right guide rail, the first intermediate rail are obliquely installed, the first left rail, first right side
Guide rail, the gradient of the first intermediate rail are identical, and the first left rail, the first right guide rail, the gradient of the first intermediate rail are identical
In the gradient of the first pilot hole and the second pilot hole.Second guide assembly includes the be fixed in base body
It is two fixed plates, the second left rail for being symmetrical set and being fixed in the second fixed plate and the second right guide rail, left positioned at second
Between guide rail and the second right guide rail and the second intermediate rail for being fixed in the second fixed plate；Second slide block assembly includes sliding
Dynamic the second left slider coordinated on the second left rail, the second right sliding block being slidably fitted on the second right guide rail, be slidably matched
The second intermediate slider in the second intermediate rail；Second pair of roller shaft rolls left wheel shaft and the second right roller including second
Axis, second rolls left wheel shaft on the second left slider, and the second right roller shaft is installed on the second right sliding block, and second rolls left wheel shaft
It is slidably fitted in the 3rd pilot hole, the second right roller shaft is slidably fitted in the 4th pilot hole, and second pair of roller includes
Second left wheel and the second right roller, the second left wheel roll left on wheel shaft installed in second, and it is right that the second right roller is installed on second
On roller shaft, second left slider and the second right sliding block are connected with the second intermediate slider, among roller driving mechanism and second
Sliding block couples；Second left rail, the second right guide rail, the second intermediate rail are obliquely installed, and the second left rail, second right side are led
Rail, the gradient of the second intermediate rail are identical, and the second left rail, the second right guide rail, the gradient of the second intermediate rail are same as
The gradient of 3rd pilot hole and the 4th pilot hole.
Based on described above, one kind of base body is illustrated as the present invention, the is hinged with first intermediate slider
One left curved axis and the first right curved axis, one end of the first left curved axis are hinged with the first intermediate slider, the first left curved axis
The other end is hinged with the first right end for rolling left wheel shaft, and one end of the first right curved axis is hinged with the first intermediate slider, the first right song
The other end of shape axis and the left end of the first right roller shaft are hinged；Described first roll left wheel shaft right end and the first right roller shaft left end it
Between be equipped with the first spring, one end of the first spring is connected with the first wheel shaft right end that rolls left, the other end of the first spring and first right
Roller shaft left end connects；The bottom of first left rail and the bottom of the first right guide rail are equipped with the first limited block；Described first is left
Roller shaft is slidably mounted on the first left slider, and the first right roller shaft is slidably mounted on the first right sliding block；Among described second
The second left curved axis and the second right curved axis are hinged with sliding block, one end of the second left curved axis is hinged with the second intermediate slider,
The other end of second left curved axis is hinged with the second right end for rolling left wheel shaft, one end of the second right curved axis and the second intermediate slider
Hinged, the left end of the other end and the second right roller shaft of the second right curved axis is hinged；Described second rolls left wheel shaft right end and second
It is equipped with second spring between right roller shaft left end, one end of second spring is connected with the second wheel shaft right end that rolls left, second spring
The other end is connected with the second right roller shaft left end；It is spacing that the bottom of second left rail and the bottom of the second right guide rail are equipped with second
Block；Described second wheel shaft that rolls left is slidably mounted on the second left slider, and the second right roller shaft is slidably mounted on the second right sliding block.
As described above, roller driving mechanism drives the first intermediate slider to be slided in the first intermediate rail, among first
Sliding block drives first to roll left wheel shaft by the first left curved axis and the first left slider is slided along the first left rail, the first intermediate slider
Drive the first right roller shaft and the first right sliding block to be slided along the first right guide rail by the first right curved axis, when the first left slider obliquely downward
Row at the first limited block on the first left rail and the first right sliding block inclined is come downwards at the first limited block on the first right guide rail
When, the first left slider and the first right sliding block are out of service, and the first intermediate slider continues along the oblique lower slider of the first intermediate rail,
Under the action of first left curved axis and the first right curved axis, the first intermediate slider by first roll left wheel shaft and the first right roller it is axial
Push open the left and right sides, i.e. the first left wheel axial direction left positioned at left side, the first right roller shaft positioned at right side are put down to the right
Move, in this way, rolling left installed in first on wheel shaft, the first left wheel is to left, the first right roller on the first right roller shaft
To right translation；Similarly, under the driving of roller driving mechanism, the second left wheel is rolled left on wheel shaft to left installed in second,
The second right roller is to right translation on the second right roller shaft；It is so designed that, when the bottom of first pair of roller and second pair of roller
When portion is highly less than the floor height of base body, first pair of roller and second pair of roller level are extending transversely, first pair of roller
The distance between become larger, the distance between second pair of roller becomes larger, to improve the stability of robot bottom.
Based on described above, as further explanation of the present invention to base body, described first wheel shaft that rolls left is equipped with the
One left spline, the first left splined hole with the first left spline fitted is opened up on the first left slider；Set on the first right roller shaft
There is the first right spline, the first right splined hole with the first right spline fitted is opened up on the first right sliding block；Described second rolls left wheel shaft
The second left spline is equipped with, the second left splined hole with the second left spline fitted is opened up on the second left slider；The second right rolling
Wheel shaft is equipped with the second right spline, and the second right splined hole with the second right spline fitted is opened up on the second right sliding block.By above stating
Bright, first left wheel is articulated in first and rolls left on wheel shaft, and the first right roller is articulated on the first right roller shaft, and second rolls left
Wheel is articulated in second and rolls left on wheel shaft, and the second right roller is articulated on the second right roller shaft.
One kind of base body is illustrated as the present invention, the roller driving mechanism includes being articulated in double in base cover body
The first screw element being spirally connected to screw rod, with left hand thread in reverse-flighted screw, the second spiral shell being spirally connected with right-handed thread in reverse-flighted screw
Line part, the first telescopic rod being fixed on the first screw element, the second telescopic rod being fixed on the second screw element, be fixed on it is two-way
First gear on screw rod, the second gear engaged with first gear, couple with second gear and be fixed in base cover body
First motor；Bar shaped guide groove is opened up in the base cover body on side wall, the first screw element and the second screw element are slidably fitted in
In bar shaped guide groove, the bottom of the first telescopic rod is hinged with the first slide block assembly, the bottom of the second telescopic rod and the second sliding block group
Part is hinged.As described above, the left-handed thread section in reverse-flighted screw is located at the top of the first idler wheel mechanism, the right side in reverse-flighted screw
Rotation thread segment is located at the top of the second idler wheel mechanism, and under the driving of the first motor, reverse-flighted screw rotation, reverse-flighted screw drives it
On the first screw element and the second screw element reverse movement, the first screw element and the second screw element drive the first telescopic rod and second
Telescopic rod moves backward, and the first telescopic rod and the second telescopic rod correspondingly drive the first intermediate slider and the second intermediate slider reverse
It is mobile.
One kind of split mechanism is illustrated as the present invention, first elastic card stretches including the first card, first
Spring, the first fixed seat；The first sliding groove is opened up on first Split type supporting stand, first card is slidably fitted in the first sliding groove
In, described first adjustable spring one end is set on the first card, and the other end of the first adjustable spring is against in the first fixed seat,
First fixed seat is fixed on the first Split type supporting stand；The first driving means include first be fixed on the first Split type supporting stand
Cylinder, the first drive block on the first cylinder piston rod, under the driving of the first cylinder, the first drive block driving first
Card is slided along the first sliding groove, and the first card drives the first adjustable spring to shrink along sliding for the first sliding groove.Wherein, described first
Card is equipped with guide part, and first adjustable spring is set on guide part, and first fixed seat opens up pilot hole, guide part
Activity is plugged in pilot hole.
One kind of split mechanism is illustrated as the present invention, stating the second elastic card includes the second card, the second flexible bullet
Spring, the second fixed seat；The second sliding slot is opened up on second Split type supporting stand, second card is slidably fitted in the second sliding slot
In, described second adjustable spring one end is set on the second card, and the other end of the second adjustable spring is against in the second fixed seat,
Second fixed seat is fixed on the second Split type supporting stand；Second driving device includes second be fixed on the second Split type supporting stand
Cylinder, the second drive block on the second cylinder piston rod, under the driving of the second cylinder, the second drive block driving second
Card is slided along the second sliding slot, and the second card drives the second adjustable spring to shrink along sliding for the second sliding slot.Wherein, described second
Card is equipped with guide part, and second adjustable spring is set on guide part, and second fixed seat opens up pilot hole, guide part
Activity is plugged in pilot hole.
One kind of split mechanism is illustrated as the present invention, one end that first Split type supporting stand is articulated with spool is equipped with the
One arcuate projection, the bayonet that can coordinate with the second elastic card is opened up on first arcuate projection.As described above, exist
Second driving device drive the second elastic card depart from contacted with ratchet on the premise of, the second split branch is driven in the stretching, extension of telescopic rod
Frame is rotated relative to the first Split type supporting stand, and the first arcuate projection acts on the second elastic card, and the second elastic card is in the first arc
Being slided on shape protuberance, the angle between the first Split type supporting stand and the second Split type supporting stand becomes larger up to reaching 180 degree, this
When, the second elastic card is caught in the bayonet of the first arcuate projection, the angle between the first Split type supporting stand and the second Split type supporting stand
It is positioned at 180 degree, i.e. the angle between two forearms is positioned at 180 degree.
One kind of split mechanism is illustrated as the present invention, the telescopic rod includes the be fixed on the first Split type supporting stand
One strut, the second strut being fixed on the second Split type supporting stand, one end and the hinged threaded rod of the first strut, one end and second
The hinged sleeve of bar, be articulated in the first gear of the sleeve other end, the second gear engaged with first gear, output shaft and second
4th motor of gear connection；The centre of the first gear opens up threaded hole, threaded rod and screw hole, threaded rod
Other end activity is plugged in sleeve, and the 4th motor is fixed on sleeve.As described above, the work of the telescopic rod is former
Reason is as follows：The driving second gear rotation of 4th motor, second gear driving first gear rotation, first gear driving threaded rod phase
Action is extended into or out to sleeve, in this way, the total length of threaded rod and sleeve changes, to drive the first Split type supporting stand and second
Split type supporting stand makees opposite rotation.
Brief description of the drawings
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is the structure diagram for the robot that a kind of bottom of the present invention is equipped with a pair of of base body；
Fig. 2 is the structure diagram of base body 100 in Fig. 1；
Fig. 3 is that base body 100 conceals the structure diagram after base lid 12 in Fig. 2；
Fig. 4 is the structure diagram of base cover body 12 in Fig. 2；
Fig. 5 is that the bottom level of first pair of roller and second pair of roller is less than base body in base body 100 of the present invention
Structure diagram during 100 floor height；
Fig. 6 is the structure diagram of the base body 11 of base body 100 in Fig. 5；
Fig. 7 is the combining structure schematic diagram of Tu1Zhong splits mechanism a and forearm 40；
Fig. 8 is the schematic diagram from left front obtained by the combining structure of split mechanism a and forearm 40 in Fig. 7.
Symbol description in figure：
10th, base plate；100th, base body；11st, base body；111st, the first pilot hole；112nd, the second pilot hole；113、
3rd pilot hole；114th, the 4th pilot hole；12nd, base lid；20th, waist rotation member；30th, large arm；40th, forearm；50th, the first roller
Mechanism；51st, the first fixed plate；521st, the first left rail；522nd, the first right guide rail；53rd, the first intermediate rail；541st, the first left cunning
Block；542nd, the first right sliding block；55th, the first intermediate slider；560th, the first spring；561st, first roll left wheel shaft；562nd, the first right rolling
Wheel shaft；571st, the first left wheel；572nd, the first right roller；581st, the first left curved axis；582nd, the first right curved axis；500th, second
Idler wheel mechanism；60th, roller driving mechanism；61st, reverse-flighted screw；621st, the first screw element；622nd, the second screw element；631st, first stretches
Contracting bar；632nd, the second telescopic rod；64th, first gear；65th, bar shaped guide groove；
A, split mechanism；A24, the first Split type supporting stand；A240, the first sliding groove；A241, the first elastic card；A242, first
Driving device；A243, the first card；A244, the first adjustable spring；A245, the first fixed seat；A246, bayonet；A25, spool；
A261, the first ratchet；A262, the second ratchet；A27, the second Split type supporting stand；A270, the second sliding slot；A271, the second elastic card；
A272, the second driving device；A273, the second card；A274, the second adjustable spring；A275, the second fixed seat；A28, telescopic rod；
A281, threaded rod；A282, sleeve；A283, first gear；A284, second gear；A285, the 4th motor.
Embodiment
Such as Fig. 1, a kind of bottom is equipped with the robot of a pair of of base body, including bottom plate 10, is articulated on the plate of bottom
Waist rotation member 20, be articulated on waist rotation member large arm 30, the forearm 40 in large arm, the extension on forearm
Arm a, waist rotation member are rotated around bottom Plate rotating, large arm around waist rotation member.The bottom of the bottom plate is equipped with a pair of of left and right
Symmetrical base body 100.
With reference to Fig. 2 to Fig. 6, the base body 100 includes hollow base body 11, the base covered in base body
Lid 12；First pair of symmetrical pilot hole and second pair of symmetrical guiding are opened up on the side wall of the base body
Hole, first pair of pilot hole and second pair of pilot hole in strip and are obliquely installed, before first pair of pilot hole and second pair of pilot hole
After be symmetrical arranged；Include fixed setting equipped with symmetrical idler wheel mechanism before and after a pair, the idler wheel mechanism in the base body
Guide assembly, be slidably matched with guide assembly slide block assembly, on slide block assembly and a pair for being symmetrical set
Roller shaft, be installed on a pair of of the roller on a pair of of roller shaft and being symmetrical set in a manner of one-to-one；Roller positioned at front
A pair of of roller shaft of mechanism coordinates in first pair of pilot hole, and a pair of of the roller shaft for the idler wheel mechanism being located behind coordinates second
To in pilot hole；Roller driving mechanism 60 is equipped with the base cover body, roller driving mechanism couples with slide block assembly, idler wheel driving
Motivation structure driving slide block assembly is slided along guide assembly.
In base body 100, first pair of symmetrical pilot hole includes the first pilot hole 111 and the second pilot hole 112, the
Two pairs of symmetrical pilot holes include the 3rd pilot hole 113 and the 4th pilot hole 114, and the first pilot hole and the 3rd pilot hole are opened
It is located on the left side wall of base body, the second pilot hole and the 4th pilot hole are opened on the right side wall of base body；Described
One pilot hole 111 and the 3rd pilot hole 113 are in splayed on the left side wall of base body 11,112 He of the second pilot hole
4th pilot hole 114 is in splayed on the right side wall of base body.Symmetrical idler wheel mechanism includes the first roller before and after a pair
50 and second idler wheel mechanism 500 of mechanism, is symmetrical arranged before and after the first idler wheel mechanism and the second idler wheel mechanism；First idler wheel mechanism bag
Include the first guide assembly of fixed setting, the first slide block assembly being slidably matched with the first guide assembly, installed in the first sliding block
On component and be symmetrical set first pair of roller shaft, be installed in a manner of one-to-one it is on first pair of roller shaft and symmetrical
The first pair of roller set；Second idler wheel mechanism includes the second guide assembly of fixed setting, slides and match somebody with somebody with the second guide assembly
Close the second slide block assembly, on the second slide block assembly and be symmetrical set second pair of roller shaft, with one-to-one side
Formula is installed on second pair of roller on second pair of roller shaft and being symmetrical set；First pair of roller shaft is oriented to through first
Hole and the second pilot hole, second pair of roller shaft pass through the 3rd pilot hole and the 4th pilot hole, first pair of roller and second pair of roller
It is respectively positioned on the outside of base body.The roller driving mechanism 60 couples with the first slide block assembly and the second slide block assembly, roller
Driving mechanism drives the first slide block assembly to be slided along the first guide assembly, and roller driving mechanism drives the second slide block assembly along second
Guide assembly slides, and the first slide block assembly drives first pair of roller shaft to be slided along the first pilot hole and the second pilot hole, and second slides
Block assembly drives second pair of roller shaft to be slided along the 3rd pilot hole and the 4th pilot hole.
In base body 100, first guide assembly include being fixed at the first fixed plate 51 in base body 11,
It is symmetrical set and is fixed on the first left rail 521 in the first fixed plate and the first right guide rail 522, positioned at the first left rail
And first between right guide rail and the first intermediate rail 53 for being fixed in the first fixed plate；First slide block assembly includes sliding
Coordinate the first left slider 541 on the first left rail, the first right sliding block 542 being slidably fitted on the first right guide rail, slide
Coordinate the first intermediate slider 55 in the first intermediate rail；First pair of roller shaft rolls left wheel shaft 561 and including first
One right roller shaft 562, first rolls left wheel shaft on the first left slider, and the first right roller shaft is installed on the first right sliding block,
First wheel shaft that rolls left is slidably fitted in the first pilot hole 111, and the first right roller shaft is slidably fitted in the second pilot hole 112,
First pair of roller includes the first left wheel 571 and the first right roller 572, and the first left wheel rolls left wheel shaft installed in first
On, the first right roller is installed on the first right roller shaft, and first left slider and the first right sliding block and the first intermediate slider connect
Connect, roller driving mechanism couples with the first intermediate slider；First left rail, the first right guide rail, the first intermediate rail are inclined
Tiltedly set, the first left rail, the first right guide rail, the gradient of the first intermediate rail are identical, the first left rail, the first right guide rail,
The gradient of first intermediate rail is same as the gradient of the first pilot hole and the second pilot hole.Second guide assembly includes
The second fixed plate being fixed in base body, the second left rail for being symmetrical set and being fixed in the second fixed plate
And the second right guide rail, between the second left rail and the second right guide rail and be fixed in the second fixed plate second among lead
Rail；The second left slider that second slide block assembly includes being slidably fitted on the second left rail, be slidably fitted in second right side and lead
The second right sliding block on rail, the second intermediate slider being slidably fitted in the second intermediate rail；Second pair of roller shaft includes
Second rolls left wheel shaft and the second right roller shaft, and second rolls left wheel shaft on the second left slider, and the second right roller shaft is installed on
On second right sliding block, second wheel shaft that rolls left is slidably fitted in the 3rd pilot hole 113, and the second right roller shaft is slidably fitted in the 4th
In pilot hole 114, second pair of roller includes the second left wheel and the second right roller, and the second left wheel rolls left installed in second
On wheel shaft, the second right roller is installed on the second right roller shaft, sliding among second left slider and the second right sliding block and second
Block connects, and roller driving mechanism couples with the second intermediate slider；Second left rail, the second right guide rail, the second intermediate rail
It is obliquely installed, the second left rail, the second right guide rail, the gradient of the second intermediate rail are identical, and the second left rail, second right side are led
Rail, the gradient of the second intermediate rail are same as the gradient of the 3rd pilot hole and the 4th pilot hole.
In base body 100, the first left curved right curved axis of axis 581 and first is hinged with first intermediate slider 55
582, one end of the first left curved axis is hinged with the first intermediate slider, and the other end of the first curved axis in a left side and first rolls left wheel shaft
561 right end is hinged, and one end of the first right curved axis 582 is hinged with the first intermediate slider, the other end of the first right curved axis and
The left end of first right roller shaft 562 is hinged；Described first, which rolls left, is equipped with first between wheel shaft right end and the first right roller shaft left end
Spring 560, one end of the first spring are connected with the first wheel shaft right end that rolls left, and the other end of the first spring and the first right roller shaft are left
End connection；The bottom of first left rail 521 and the bottom of the first right guide rail 522 are equipped with the first limited block；Described first rolls left
Wheel shaft is slidably mounted on the first left slider 541, and the first right roller shaft is slidably mounted on the first right sliding block 542.Described second
The second left curved axis and the second right curved axis are hinged with intermediate slider, one end of the second left curved axis is cut with scissors with the second intermediate slider
Connect, the other end of the second left curved axis is hinged with the second right end for rolling left wheel shaft, among one end and second of the second right curved axis
Sliding block is hinged, and the left end of the other end and the second right roller shaft of the second right curved axis is hinged；Described second roll left wheel shaft right end and
It is equipped with second spring between second right roller shaft left end, one end of second spring is connected with the second wheel shaft right end that rolls left, the second bullet
The other end of spring is connected with the second right roller shaft left end；The bottom of second left rail and the bottom of the second right guide rail are equipped with second
Limited block；Described second wheel shaft that rolls left is slidably mounted on the second left slider, and the second right roller shaft is slidably mounted on the second right cunning
On block.
In base body 100, described first wheel shaft 561 that rolls left is equipped with the first left spline, opened up on the first left slider 541 with
First left splined hole of the first left spline fitted；The first right roller shaft 562 is equipped with the first right spline, the first right sliding block
The first right splined hole with the first right spline fitted is opened up on 542.Described second wheel shaft that rolls left is equipped with the second left spline, and second
The second left splined hole with the second left spline fitted is opened up on left slider；The second right roller shaft is equipped with the second right spline,
The second right splined hole with the second right spline fitted is opened up on second right sliding block.
In base body 100, the roller driving mechanism 60 include being articulated in reverse-flighted screw 61 in base lid 12, with it is double
Left hand thread is spirally connected into screw rod the first screw element 621, the second screw element 622 being spirally connected with right-handed thread in reverse-flighted screw,
The first telescopic rod 631 for being fixed on the first screw element, the second telescopic rod 632 being fixed on the second screw element, be fixed on it is double
To the first gear 64 on screw rod, the second gear engaged with first gear, couple with second gear and be fixed on base lid
The first interior motor；Bar shaped guide groove 65 is opened up in the base cover body on side wall, the first screw element and the second screw element slide
Coordinate in bar shaped guide groove, the bottom of the first telescopic rod is hinged with the first slide block assembly, the bottom of the second telescopic rod and second
Slide block assembly is hinged.
Such as Fig. 1, the quantity of the forearm is two, is respectively the first forearm and the second forearm, two forearms pass through split
Mechanism a is installed in large arm.
With reference to Fig. 7, Fig. 8, the split mechanism includes the first Split type supporting stand a24, the volume being articulated on the first Split type supporting stand
Axis a25, the ratchet for being fixed on spool both ends, the second Split type supporting stand a27 being articulated on spool, the first Split type supporting stand of connection and the
The telescopic rod a28 of diad stent；First Split type supporting stand is equipped with the first elastic card a241 being caught in hook tooth, drives
The first elastic card is set to depart from the first driving means a242 contacted with ratchet, second Split type supporting stand is equipped with and is caught in ratchet
The second elastic card a271 in tooth, drive the second elastic card to depart from the second driving device a272 contacted with ratchet；It is described
Ratchet includes being fixed on the first ratchet a261 of spool left end and is fixed on the second ratchet a262 of spool right end, the first ratchet with
Second coaxial ratchet and oppositely arranged；The 3rd motor is fixed with the large arm, the output shaft of the 3rd motor couples with spool；Institute
The first forearm is stated on the first Split type supporting stand, the second forearm is installed on the second Split type supporting stand.
In split mechanism a, the first elastic card a241 includes the first card a243, the first adjustable spring a244, the
One fixed seat a245；The first sliding groove a240 is opened up on the first Split type supporting stand a24, first card is slidably fitted in first
In sliding slot, described first adjustable spring one end is set on the first card, and the other end of the first adjustable spring is against the first fixation
On seat, the first fixed seat is fixed on the first Split type supporting stand.The first driving means a242 includes being fixed on the first split branch
The first cylinder on frame, the first drive block on the first cylinder piston rod, under the driving of the first cylinder, the first driving
Block drives the first card to be slided along the first sliding groove, and the first card drives the first adjustable spring to shrink along sliding for the first sliding groove.Institute
State the first card a243 and be equipped with guide part, the first adjustable spring a244 is set on guide part, first fixed seat
A245 opens up pilot hole, and guide part activity is plugged in pilot hole.
In split mechanism a, the second elastic card a271 includes the second card a273, the second adjustable spring a274, the
Two fixed seat a275；The second sliding slot a270 is opened up on the second Split type supporting stand a27, second card is slidably fitted in second
In sliding slot, described second adjustable spring one end is set on the second card, and the other end of the second adjustable spring is against the second fixation
On seat, the second fixed seat is fixed on the second Split type supporting stand.The second driving device a272 includes being fixed on the second split branch
The second cylinder on frame, the second drive block on the second cylinder piston rod, under the driving of the second cylinder, the second driving
Block drives the second card to be slided along the second sliding slot, and the second card drives the second adjustable spring to shrink along sliding for the second sliding slot.Institute
State the second card a273 and be equipped with guide part, the second adjustable spring a274 is set on guide part, second fixed seat
A275 opens up pilot hole, and guide part activity is plugged in pilot hole.
In split mechanism a, one end that the first Split type supporting stand a24 is articulated with spool a25 is equipped with the first arcuate projection,
The bayonet a246 that can coordinate with the second elastic card a271 is opened up on first arcuate projection.
In split mechanism a, the telescopic rod a28 include be fixed on the first Split type supporting stand a24 the first strut, be fixed on
The second strut, one end and the hinged threaded rod a281 of the first strut, one end and the second strut on second Split type supporting stand is hinged
Sleeve a282, the first gear a283 for being articulated in the sleeve other end, the second gear a284 engaged with first gear, output shaft with
4th motor a285 of second gear connection；The centre of the first gear opens up threaded hole, threaded rod and screw hole,
The other end activity of threaded rod is plugged in sleeve, and the 4th motor is fixed on sleeve.
In practical operation, the workflow that a kind of bottom of the present invention is equipped with the robot of a pair of of base body is as follows：
First, when robot need to move, the first telescopic rod 631 in roller driving mechanism 60 drives the first intermediate slider 55
Slided along the first intermediate rail 53, the first intermediate slider 55 drives whole first slide block assembly to be slided along the first guide assembly；Rolling
The second telescopic rod 632 in actuation 60 drives the second intermediate slider to be slided along the second intermediate rail, the second intermediate slider
Whole second slide block assembly is driven to be slided along the second guide assembly；First slide block assembly and the direction phase of the second slide block assembly operation
Instead, the first slide block assembly moves ahead and row, the first slide block assembly drive first pair of roller shaft to be oriented to along first after the second slide block assembly
111 and second pilot hole 112 of hole slides diagonally downward, and the second slide block assembly drives second pair of roller shaft along the 3rd pilot hole 113
Being slided diagonally downward with the 4th pilot hole 114, first pair of roller shaft drives first pair of roller thereon to move diagonally downward, and second
Second pair of roller thereon is driven to move diagonally downward roller shaft, in this way, the bottom of first pair of roller and second pair of roller is low
Contacted in the bottom surface of base body 11 with ground, robot can be moved on the ground by first pair of roller and second pair of roller
It is dynamic.
Second, when robot need to fix, roller driving mechanism 60 drives the first telescopic rod 631 and the second telescopic rod 632 multiple
Position, the first slide block assembly and the second slide block assembly also reset therewith, and the first slide block assembly drives first pair of roller shaft to be led along first
Slip is tilted upward to 111 and second pilot hole 112 of hole, the second slide block assembly drives second pair of roller shaft along the 3rd pilot hole
113 and the 4th pilot hole 114 tilt upward slip, first pair of roller shaft drives first pair of roller thereon to tilt upward movement,
Second pair of roller shaft drives second pair of roller thereon to tilt upward movement, in this way, the bottom of first pair of roller and second pair of roller
Portion departs from and is contacted with ground higher than the bottom surface of base body 11, and the bottom surface of base body 11 is directly contacted with ground, robot
It can fix on the ground.
3rd, when the angle between two forearms 40 need to change, first driving means a242 drives the first elastic card
A241 departs to be contacted with ratchet, is contacted alternatively, the second driving device a272 drives the second elastic card a271 to depart from ratchet, it
Afterwards, the flexible of telescopic rod a28 can drive the first Split type supporting stand a24 and the second Split type supporting stand a27 to relatively rotate, the first split branch
Variable angle between frame and the second Split type supporting stand, and then, the angle between two forearms 40 obtains required change；Afterwards,
One elastic card a241 or the second elastic card a271 resets, and is caught in the tooth of the first ratchet a261 and the second ratchet a262,
Since the first ratchet and the second ratchet are oppositely arranged, the direction of the tooth of the tooth of the first ratchet and the second ratchet is on the contrary, such as
This, while the first elastic card a241 being caught in the tooth of the first ratchet a261 and the second ratchet a262 or the second elastic card
A271 can limit the first Split type supporting stand a24 or the second Split type supporting stand a27 and rotate, and then position the first forearm and the second forearm.
Above content is only the better embodiment of the present invention, for those of ordinary skill in the art, according to the present invention
Thought, there will be changes, this specification content should not be construed as to this hair in specific embodiments and applications
Bright limitation.
Claims (10)
1. a kind of bottom is equipped with the robot of a pair of of base body, including bottom plate (10), the waist that is articulated on the plate of bottom turn
Component (20), the large arm (30) being articulated on waist rotation member, the forearm (40) in large arm, the extension on forearm
Arm (a), waist rotation member are rotated around bottom Plate rotating, large arm around waist rotation member；It is characterized in that：
The bottom of the bottom plate is equipped with base body (100), and the base body includes hollow base body (11), covers
Base lid (12) in base body；First pair of symmetrical pilot hole and second are opened up on the side wall of the base body
To symmetrical pilot hole, first pair of pilot hole and second pair of pilot hole in strip and are obliquely installed, first pair of pilot hole
It is symmetrical arranged with before and after second pair of pilot hole；Equipped with symmetrical idler wheel mechanism before and after a pair, the roller in the base body
Mechanism includes the guide assembly of the fixed setting, slide block assembly being slidably matched with guide assembly, on slide block assembly and left
Right symmetrically arranged a pair of of roller shaft, a pair of of the rolling for being installed on a pair of of roller shaft and being symmetrical set in a manner of one-to-one
Wheel；A pair of of roller shaft positioned at the idler wheel mechanism in front coordinates in first pair of pilot hole, and the one of the idler wheel mechanism being located behind
Roller shaft is coordinated in second pair of pilot hole；Roller driving mechanism (60), roller driving mechanism are equipped with the base cover body
Couple with slide block assembly, roller driving mechanism driving slide block assembly is slided along guide assembly；
The quantity of the forearm is two, is respectively the first forearm and the second forearm, and two forearms are installed by split mechanism (a)
In large arm；The split mechanism includes the first Split type supporting stand (a24), the spool (a25) being articulated on the first Split type supporting stand, consolidates
The second Split type supporting stand (a27), the first Split type supporting stand of connection and the second split for be scheduled on the ratchet at spool both ends, being articulated on spool
The telescopic rod (a28) of stent；First Split type supporting stand is equipped with the first elastic card (a241) being caught in hook tooth, drives
First elastic card departs from the first driving means (a242) contacted with ratchet, and second Split type supporting stand is equipped with and is caught in ratchet
The second elastic card (a271) in tooth, drive the second elastic card to depart from the second driving device (a272) contacted with ratchet；
The ratchet includes being fixed on the first ratchet (a261) of spool left end and being fixed on the second ratchet (a262) of spool right end, the
One ratchet and the second coaxial ratchet and oppositely arranged；The 3rd motor, the output shaft and volume of the 3rd motor are fixed with the large arm
Axis couples；First forearm is installed on the first Split type supporting stand, and the second forearm is installed on the second Split type supporting stand.
2. a kind of bottom as claimed in claim 1 is equipped with the robot of a pair of of base body, it is characterised in that：Base body (100)
In, first pair of symmetrical pilot hole includes the first pilot hole (111) and the second pilot hole (112), and second pair is symmetrical
Pilot hole include the 3rd pilot hole (113) and the 4th pilot hole (114), the first pilot hole and the 3rd pilot hole are opened in base
On the left side wall of main body, the second pilot hole and the 4th pilot hole are opened on the right side wall of base body；First pilot hole
(111) and the 3rd pilot hole (113) is in splayed on the left side wall of base body (11), second pilot hole (112) and
4th pilot hole (114) is in splayed on the right side wall of base body；
Symmetrical idler wheel mechanism includes the first idler wheel mechanism (50) and the second idler wheel mechanism (500), the first roller machine before and after a pair
It is symmetrical arranged before and after structure and the second idler wheel mechanism；First idler wheel mechanism includes the first guide assembly of fixed setting, is led with first
The first slide block assembly that rail assembly is slidably matched, on the first slide block assembly and first pair of roller being symmetrical set
Axis, be installed on first pair of roller on first pair of roller shaft and being symmetrical set in a manner of one-to-one；Second idler wheel mechanism bag
Include the second guide assembly of fixed setting, the second slide block assembly being slidably matched with the second guide assembly, installed in the second sliding block
On component and be symmetrical set second pair of roller shaft, be installed in a manner of one-to-one it is on second pair of roller shaft and symmetrical
The second pair of roller set；First pair of roller shaft passes through the first pilot hole and the second pilot hole, and second pair of roller shaft passes through
3rd pilot hole and the 4th pilot hole, first pair of roller and second pair of roller are respectively positioned on the outside of base body；
The roller driving mechanism (60) couples with the first slide block assembly and the second slide block assembly, roller driving mechanism driving first
Slide block assembly is slided along the first guide assembly, and roller driving mechanism drives the second slide block assembly to be slided along the second guide assembly, the
One slide block assembly drives first pair of roller shaft to be slided along the first pilot hole and the second pilot hole, and the second slide block assembly drives second pair
Roller shaft is slided along the 3rd pilot hole and the 4th pilot hole.
3. a kind of bottom as claimed in claim 2 is equipped with the robot of a pair of of base body, it is characterised in that：Base body (100)
In, first guide assembly include be fixed in base body (11) the first fixed plate (51), be symmetrical set
And it is fixed on the first left rail (521) in the first fixed plate and the first right guide rail (522), positioned at the first left rail and first right side
Between guide rail and the first intermediate rail (53) for being fixed in the first fixed plate；First slide block assembly includes being slidably fitted in
The first left slider (541) on first left rail, the first right sliding block (542) being slidably fitted on the first right guide rail, slide and match somebody with somebody
Close the first intermediate slider (55) in the first intermediate rail；First pair of roller shaft including first roll left wheel shaft (561) and
First right roller shaft (562), first rolls left wheel shaft on the first left slider, and the first right roller shaft is installed on the first right sliding block
On, first wheel shaft that rolls left is slidably fitted in the first pilot hole (111), and the first right roller shaft is slidably fitted in the second pilot hole
(112) in, first pair of roller includes the first left wheel (571) and the first right roller (572), and the first left wheel is installed in the
One rolls left on wheel shaft, and the first right roller is installed on the first right roller shaft, first left slider and the first right sliding block and first
Intermediate slider connects, and roller driving mechanism couples with the first intermediate slider；In first left rail, the first right guide rail, first
Between guide rail be obliquely installed, the first left rail, the first right guide rail, the gradient of the first intermediate rail are identical, the first left rail,
One right guide rail, the gradient of the first intermediate rail are same as the gradient of the first pilot hole and the second pilot hole；
Second guide assembly include be fixed in base body the second fixed plate, be symmetrical set and be fixed on
The second left rail and the second right guide rail in second fixed plate, between the second left rail and the second right guide rail and be fixed on
The second intermediate rail in two fixed plates；Second slide block assembly includes the second left cunning being slidably fitted on the second left rail
Block, the second right sliding block being slidably fitted on the second right guide rail, the second intermediate slider being slidably fitted in the second intermediate rail；
Second pair of roller shaft rolls left wheel shaft and the second right roller shaft including second, and second wheel shaft that rolls left is installed on the second left slider
On, the second right roller shaft is installed on the second right sliding block, and second wheel shaft that rolls left is slidably fitted in the 3rd pilot hole (113), the
Two right roller shafts are slidably fitted in the 4th pilot hole (114), and second pair of roller includes the second left wheel and the second right rolling
Wheel, the second left wheel roll left on wheel shaft installed in second, and the second right roller is installed on the second right roller shaft, the second left cunning
Block and the second right sliding block are connected with the second intermediate slider, and roller driving mechanism couples with the second intermediate slider；Lead on second left side
Rail, the second right guide rail, the second intermediate rail are obliquely installed, the inclination of the second left rail, the second right guide rail, the second intermediate rail
Spend identical, the second left rail, the second right guide rail, the gradient of the second intermediate rail are same as the 3rd pilot hole and the 4th pilot hole
Gradient.
4. a kind of bottom as claimed in claim 3 is equipped with the robot of a pair of of base body, it is characterised in that：Base body (100)
In, the first left curved axis (581) and the first right curved axis (582), the first left song are hinged with first intermediate slider (55)
One end of shape axis is hinged with the first intermediate slider, and the other end of the first left curved axis and the first right end for rolling left wheel shaft (561) are cut with scissors
Connect, one end of the first right curved axis (582) is hinged with the first intermediate slider, the other end and the first right roller of the first right curved axis
The left end of axis (562) is hinged；Described first, which rolls left, is equipped with the first spring between wheel shaft right end and the first right roller shaft left end
(560), one end of the first spring is connected with the first wheel shaft right end that rolls left, the other end of the first spring and the first right roller shaft left end
Connection；The bottom of first left rail (521) and the bottom of the first right guide rail (522) are equipped with the first limited block；Described first is left
Roller shaft is slidably mounted on the first left slider (541), and the first right roller shaft is slidably mounted on the first right sliding block (542)；
It is hinged with the second left curved axis and the second right curved axis on second intermediate slider, one end of the second left curved axis and the
Two intermediate sliders are hinged, and the other end of the second left curved axis is hinged with the second right end for rolling left wheel shaft, and the one of the second right curved axis
End is hinged with the second intermediate slider, and the left end of the other end and the second right roller shaft of the second right curved axis is hinged；Described second is left
It is equipped with second spring between roller shaft right end and the second right roller shaft left end, one end of second spring is rolled left wheel shaft right end with second
Connection, the other end of second spring are connected with the second right roller shaft left end；The bottom of second left rail and the bottom of the second right guide rail
End is equipped with the second limited block；Described second wheel shaft that rolls left is slidably mounted on the second left slider, and the second right roller shaft slides peace
On the second right sliding block.
5. a kind of bottom as claimed in claim 4 is equipped with the robot of a pair of of base body, it is characterised in that：Base body (100)
In, described first wheel shaft (561) that rolls left is equipped with the first left spline, opens up on the first left slider (541) and matches somebody with somebody with the first left spline
The the first left splined hole closed；The first right roller shaft (562) is equipped with the first right spline, is opened up on the first right sliding block (542)
With the first right splined hole of the first right spline fitted；
Described second wheel shaft that rolls left is equipped with the second left spline, opened up on the second left slider with it is the second of the second left spline fitted left
Splined hole；The second right roller shaft is equipped with the second right spline, and with the second right spline fitted is opened up on the second right sliding block
Two right splined holes.
6. a kind of bottom as claimed in claim 2 is equipped with the robot of a pair of of base body, it is characterised in that：Base body (100)
In, the roller driving mechanism (60) includes being articulated in left in the reverse-flighted screw (61) in base lid (12) and reverse-flighted screw
Rotation screw thread be spirally connected the first screw element (621), be spirally connected with right-handed thread in reverse-flighted screw the second screw element (622), be fixed on
The first telescopic rod (631) on first screw element, the second telescopic rod (632) being fixed on the second screw element, be fixed on it is two-way
First gear (64) on screw rod, the second gear engaged with first gear, couple with second gear and be fixed on base lid
The first interior motor；Bar shaped guide groove (65) is opened up in the base cover body on side wall, the first screw element and the second screw element are slided
Dynamic to coordinate in bar shaped guide groove, the bottom of the first telescopic rod is hinged with the first slide block assembly, the bottom of the second telescopic rod and the
Two slide block assemblies are hinged.
7. a kind of bottom as claimed in claim 1 is equipped with the robot of a pair of of base body, it is characterised in that：Split mechanism (a)
In, first elastic card (a241) includes the first card (a243), the first adjustable spring (a244), the first fixed seat
(a245)；The first sliding groove (a240) is opened up on first Split type supporting stand (a24), first card is slidably fitted in the first cunning
In groove, described first adjustable spring one end is set on the first card, and the other end of the first adjustable spring is against the first fixed seat
On, the first fixed seat is fixed on the first Split type supporting stand；
The first driving means (a242) include being fixed on the first cylinder on the first Split type supporting stand, live installed in the first cylinder
The first drive block on stopper rod, under the driving of the first cylinder, the first drive block drives the first card to be slided along the first sliding groove, the
One card drives the first adjustable spring to shrink along sliding for the first sliding groove；
First card (a243) is equipped with guide part, and first adjustable spring (a244) is set on guide part, and described
One fixed seat (a245) opens up pilot hole, and guide part activity is plugged in pilot hole.
8. a kind of bottom as claimed in claim 1 is equipped with the robot of a pair of of base body, it is characterised in that：Split mechanism (a)
In, second elastic card (a271) includes the second card (a273), the second adjustable spring (a274), the second fixed seat
(a275)；The second sliding slot (a270) is opened up on second Split type supporting stand (a27), second card is slidably fitted in the second cunning
In groove, described second adjustable spring one end is set on the second card, and the other end of the second adjustable spring is against the second fixed seat
On, the second fixed seat is fixed on the second Split type supporting stand；
Second driving device (a272) includes being fixed on the second cylinder on the second Split type supporting stand, lives installed in the second cylinder
The second drive block on stopper rod, under the driving of the second cylinder, the second drive block drives the second card to be slided along the second sliding slot, the
Two cards drive the second adjustable spring to shrink along sliding for the second sliding slot；
Second card (a273) is equipped with guide part, and second adjustable spring (a274) is set on guide part, and described
Two fixed seats (a275) open up pilot hole, and guide part activity is plugged in pilot hole.
9. a kind of bottom as claimed in claim 1 is equipped with the robot of a pair of of base body, it is characterised in that：Split mechanism (a)
In, one end that first Split type supporting stand (a24) is articulated with spool (a25) is equipped with the first arcuate projection, first arc
The bayonet (a246) that can coordinate with the second elastic card (a271) is opened up on protuberance.
10. a kind of bottom as claimed in claim 1 is equipped with the robot of a pair of of base body, it is characterised in that：Split mechanism (a)
In, the telescopic rod (a28) include be fixed on the first Split type supporting stand (a24) the first strut, be fixed on the second Split type supporting stand
On the second strut, one end and the hinged threaded rod of the first strut (a281), one end and the hinged sleeve of the second strut (a282),
It is articulated in the first gear (a283), the second gear (a284) engaged with first gear, output shaft and second of the sleeve other end
4th motor (a285) of gear connection；The centre of the first gear opens up threaded hole, threaded rod and screw hole, spiral shell
The other end activity of rasp bar is plugged in sleeve, and the 4th motor is fixed on sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368783.8A CN105945914B (en) | 2016-05-28 | 2016-05-28 | A kind of bottom is equipped with the robot of a pair of of base body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368783.8A CN105945914B (en) | 2016-05-28 | 2016-05-28 | A kind of bottom is equipped with the robot of a pair of of base body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945914A CN105945914A (en) | 2016-09-21 |
| CN105945914B true CN105945914B (en) | 2018-04-27 |
Family
ID=56909990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368783.8A Active CN105945914B (en) | 2016-05-28 | 2016-05-28 | A kind of bottom is equipped with the robot of a pair of of base body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105945914B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106219998B (en) * | 2016-09-30 | 2018-10-02 | 嘉兴晟源工业设计有限公司 | A kind of plated film template mechanism with glass substrate retention device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1083441A (en) * | 1992-08-29 | 1994-03-09 | 冯建光 | Eight-wheel vehicle |
| CN1522880A (en) * | 2003-02-18 | 2004-08-25 | �ղ��Զ�����ʽ���� | Height regulating device for the suspension unit of a vehicle |
| CN1792571A (en) * | 2005-12-21 | 2006-06-28 | 缪慰时 | Caterpillar counterterror robot with remote operation |
| CN100448736C (en) * | 2003-10-21 | 2009-01-07 | 罗德尼·伊恩·罗林森 | Laterally-leaning four wheeled vehicle |
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN205220270U (en) * | 2015-11-12 | 2016-05-11 | 深圳市米克力美科技有限公司 | Directional wheel elevating gear of AGV dolly |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7377522B2 (en) * | 2002-09-18 | 2008-05-27 | Macisaac William L | Vehicle with movable and inwardly tilting safety body |
| US8186694B2 (en) * | 2009-06-24 | 2012-05-29 | Steven David Nelson | Steering assemblies, vehicles including a steering assemblies, and methods of steering a vehicle |
-
2016
- 2016-05-28 CN CN201610368783.8A patent/CN105945914B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1083441A (en) * | 1992-08-29 | 1994-03-09 | 冯建光 | Eight-wheel vehicle |
| CN1522880A (en) * | 2003-02-18 | 2004-08-25 | �ղ��Զ�����ʽ���� | Height regulating device for the suspension unit of a vehicle |
| CN100448736C (en) * | 2003-10-21 | 2009-01-07 | 罗德尼·伊恩·罗林森 | Laterally-leaning four wheeled vehicle |
| CN1792571A (en) * | 2005-12-21 | 2006-06-28 | 缪慰时 | Caterpillar counterterror robot with remote operation |
| CN103029123A (en) * | 2012-12-22 | 2013-04-10 | 浙江万丰科技开发有限公司 | Light-weight six-shaft universal robot |
| CN205220270U (en) * | 2015-11-12 | 2016-05-11 | 深圳市米克力美科技有限公司 | Directional wheel elevating gear of AGV dolly |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105945914A (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105904433B (en) | A kind of removable six-joint robot that can be static | |
| CN203922158U (en) | A kind of running roller feeder | |
| CN103085529B (en) | Automatic book turning machine | |
| CN203915281U (en) | A kind of electronic control Stryker frame | |
| CN105945914B (en) | A kind of bottom is equipped with the robot of a pair of of base body | |
| CN108505226A (en) | A kind of automatic folding mechanism and method and sleeve vent sewing device | |
| CN206887386U (en) | Overedger | |
| CN204192103U (en) | Single motor-driven coordinated type electric driving bed structure | |
| CN109227583A (en) | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line | |
| CN106002978A (en) | Six-shaft robot with lifting rollers at bottom | |
| CN207258820U (en) | A kind of cloth curtain processing fabric turnover mechanism | |
| CN109500832A (en) | The flat folder adaptive robot finger apparatus of altimetric compensation bar tooth parallel connection straight line | |
| CN102390660B (en) | Upper automatically-aligning idler group using track friction | |
| CN105361426B (en) | A kind of electronic calligraphy table | |
| CN204132699U (en) | A kind of folding table | |
| CN105904434B (en) | A kind of base body is provided with the six-joint robot of roller | |
| CN106182065A (en) | Hard and soft series-parallel connection list drives three to change hands finger | |
| CN207000654U (en) | A kind of bicycle parking mechanism | |
| CN209095580U (en) | Gear idle running is driven the flat folder adaptive robot finger apparatus of swing rod sliding slot straight line | |
| CN107008971A (en) | A kind of fetching device for horizontal broaching machine spline broach | |
| CN205802426U (en) | A kind of box turnover mechanism | |
| CN209224611U (en) | A kind of infolding bottom reason bag machine | |
| CN108046177B (en) | A kind of three-level telescopic fork | |
| CN202828980U (en) | Stacking mechanical arm grabbing mechanism | |
| CN207975398U (en) | Security medium case lifting gear and security medium delivery apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191106 Address after: Chengxiang city Taicang town Suzhou city Jiangsu province 215400 000 Honghua court room 2 A25 Patentee after: Taicang Yoshii Machinery Co., Ltd. Address before: 523000 Guangdong province Dongguan City Songshan Lake high tech Industrial Zone Building 406 industrial development productivity Patentee before: Dongguan Lianzhou Intellectual Property Operation Management Co.,Ltd. |
|
| TR01 | Transfer of patent right |