CN109333501A - A kind of robot chassis and its installing mechanism - Google Patents
A kind of robot chassis and its installing mechanism Download PDFInfo
- Publication number
- CN109333501A CN109333501A CN201811298658.XA CN201811298658A CN109333501A CN 109333501 A CN109333501 A CN 109333501A CN 201811298658 A CN201811298658 A CN 201811298658A CN 109333501 A CN109333501 A CN 109333501A
- Authority
- CN
- China
- Prior art keywords
- robot
- wall
- mobile platform
- plate
- sliding panel
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of robot chassis and its installing mechanisms, including mobile platform, the inner wall of the mobile platform is provided with sliding slot, and the top of mobile platform is provided with annular groove, the two sides of the mobile platform are respectively and fixedly provided with fixed plate, the fixed plate is internally provided with screw hole, the inner wall of the sliding slot is connected with sliding panel, the inner wall of the sliding panel is connected with telescopic mast, and the outer surface of sliding panel is socketed with sleeve, the top of the sliding panel is equipped with cylinder, the outer surface of the telescopic mast is provided with outer spring, the sleeve is internally connected with inner spring, and the bottom end of sleeve is connected with vibration damper plate, the bottom end of the vibration damper plate is equipped with pulley, the inner wall of the annular groove is connected with bearing bar.The present invention can quickly be installed robot fixed column on a mounting board by setting location hole and positioning column, while connection frame and bearing plate give robot fixed column to provide enough stability, the stability after further improving robot installation.
Description
Technical field
The present invention relates to robot field, specially a kind of robot chassis and its installing mechanism.
Background technique
Robot is to automatically control machine (Robot) to be commonly called as, automatically control machine include all simulation human behaviors or
The machinery (such as robot dog, Doraemon etc.) of thought and simulation other biological, to the definition of robot, there are also many classification in the narrow sense
Method and dispute, some computer programs or even also referred to as robot.
But robot chassis and its installing mechanism currently on the market, the installation effect of robot can not be further increased
Rate, and can not further increase the stability of installation, robot chassis are not easy to band mobile robot and carry out angle adjustment, cause into
Row angle is very slow when adjusting, and can not improve the damping performance of chassis when moving.
Summary of the invention
The purpose of the present invention is to provide a kind of robot chassis and its installing mechanisms, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of robot chassis, including mobile platform, institute
The inner wall for stating mobile platform is provided with sliding slot, and the top of mobile platform is provided with annular groove, and the two sides of the mobile platform are equal
It is fixed with fixed plate, the fixed plate is internally provided with screw hole, and the inner wall of the sliding slot is connected with sliding panel, the sliding panel
Inner wall be connected with telescopic mast, and the outer surface of sliding panel is socketed with sleeve, and the top of the sliding panel is equipped with cylinder, described
The outer surface of telescopic mast is provided with outer spring, and the sleeve is internally connected with inner spring, and the bottom end of sleeve is connected with damping
Plate, the bottom end of the vibration damper plate are equipped with pulley, and the inner wall of the annular groove is connected with bearing bar, sets on the inside of the bearing bar
It is equipped with servo motor, the output end of the servo motor is connected with shaft, and the top of the shaft is connected with rotating disc.
A kind of robot chassis and its installing mechanism, including robot fixed column, the fixed column are located at mobile platform
Top position, and the two sides of robot fixed column are respectively connected with connection frame, the outer surface of the robot fixed column is connected with
Fishplate bar, and the bottom end of robot fixed column is provided with positioning column, and bearing plate, the connecting plate are connected on the inside of the connection frame
Be internally provided with fixation hole, be provided with mounting plate below the bearing plate, the upper surface of the mounting plate is close to positioning
Location hole is provided with below column, and the upper surface of mounting plate is provided with lower fixed hole below upper fixation hole.
Preferably, the servo motor and rotating disc are rotatablely connected by shaft, and the bearing bar passes through with mobile platform
Annular groove is slidably connected.
Preferably, the sliding panel and mobile platform are slidably connected by sliding slot, and the inner wall of sliding panel and vibration damper plate
Mutually agree with outer surface.
Preferably, the servo motor is connect with mobile platform by fixed link, the outer surface of the bearing bar and annular
The inner wall of slot mutually agrees with.
Preferably, the outer surface of the telescopic mast and the inner wall of sleeve mutually agree with, and telescopic mast and sleeve pass through inner spring
Connection.
Preferably, the mounting plate is connect by positioning column with location hole with robot fixed column, fixed hole with
Lower fixed hole is bolted.
Preferably, the inner wall of the location hole and the outer surface of positioning column are mutually agreed with, and the quantity of location hole be two, two
A location hole is symmetrical arranged along the longitudinal central axis line of mounting plate.
Preferably, the bearing plate is welded on the inside of connection frame, and the vertical section of connection frame is L-type.
It compared with prior art, can be quick the beneficial effects of the present invention are: the present invention is by setting location hole and positioning column
On a mounting board by the installation of robot fixed column, while connection frame and bearing plate give the offer of robot fixed column enough stabilizations
Property, the stability after further improving robot installation, by the way that servo motor is arranged, servo motor is driven by shaft and is rotated
Disk rotation, rotating disc are rotated by mounting plate band mobile robot fixed column, can adjust the angle of robot according to demand, simultaneously
Bearing bar can effective pressure suffered by discrete servo motor, the service life of servo motor is safeguarded, by setting vibration damper plate, flexible
Column, sleeve, inner spring and outer spring, after pulley is shaken power, shaking force is sent on jolting plate by pulley, and jolting plate will shake
Power is sent on telescopic mast and sleeve, and telescopic mast and sleeve can effectively reduce under the mutual cooperation of inner spring and outer spring
Influence of the shaking force to device.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the scheme of installation of cylinder of the present invention and servo motor；
Fig. 3 is the connection schematic diagram of rotating disc of the present invention and bearing bar；
Fig. 4 is the connection schematic diagram of sliding bar of the present invention and mobile platform；
Fig. 5 is the connection schematic diagram of sliding panel of the present invention and vibration damper plate；
Fig. 6 is the connection schematic diagram of telescopic mast of the present invention and sleeve.
In figure: 1, mounting plate；2, upper fixation hole；3, connecting plate；4, shaft；5, fixed plate；6, screw hole；7, positioning column；8,
Lower fixed hole；9, location hole；10, pulley；11, mobile platform；12, bearing plate；13, connection frame；14, robot fixed column；15,
Rotating disc；16, servo motor；17, bearing bar；18, sliding panel；19, cylinder；20, annular groove；21, sliding slot；22, outer spring；
23, telescopic mast；24, sleeve；25, vibration damper plate；26, inner spring.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1-6, a kind of robot chassis provided by the invention and its installing mechanism embodiment: a kind of robot bottom
Disk, including mobile platform 11, the inner wall of mobile platform 11 is provided with sliding slot 21, and the top of mobile platform 11 is provided with annular groove
20, the two sides of mobile platform 11 are respectively and fixedly provided with fixed plate 5, and fixed plate 5 is internally provided with screw hole 6, the inner wall connection of sliding slot 21
There is sliding panel 18, the inner wall of sliding panel 18 is connected with telescopic mast 23, and the outer surface of sliding panel 18 is socketed with sleeve 24, sliding panel
18 top is equipped with cylinder 19 (DA), and the outer surface of telescopic mast 23 is provided with outer spring 22, and being internally connected with for sleeve 24 is interior
Spring 26, and the bottom end of sleeve 24 is connected with vibration damper plate 25, the bottom end of vibration damper plate 25 is equipped with pulley 10, the inner wall of annular groove 20
It is connected with bearing bar 17, the inside of bearing bar 17 is provided with servo motor 16, and the output end of servo motor 16 is connected with shaft 4,
The top of shaft 4 is connected with rotating disc 15.
A kind of robot chassis and its installing mechanism, including robot fixed column 14, fixed column 14 are located at mobile platform 11
Top position, and the two sides of robot fixed column 14 are respectively connected with connection frame 13, the outer surface connection of robot fixed column 14
There is connecting plate 3, and the bottom end of robot fixed column 14 is provided with positioning column 7, the inside of connection frame 13 is connected with bearing plate 12, even
Fishplate bar 3 is internally provided with fixation hole 2, and the lower section of bearing plate 12 is provided with mounting plate 1, and the upper surface of mounting plate 1 is close to fixed
The lower section of position column 7 is provided with location hole 9, and the upper surface of mounting plate 1 is provided with lower fixed hole 8 close to the lower section of upper fixation hole 2.
The robot chassis and its installing mechanism: in the moving process of chassis, encountering ground not usually, and pulley 10 will shake
Power is sent on sleeve 24 and telescopic mast 23 by vibration damper plate 25, and after telescopic mast 23 is shaken power, telescopic mast 23 is in sleeve 24
Inner wall move up and down, outer spring 22 and inner spring 26 carry out compression and resetting movement at this time, and shaking force pair can be effectively reduced
The influence of device.
Please emphatically refering to fig. 1, mounting plate 1 is connect by positioning column 7 with location hole 9 with robot fixed column 14, convenient for machine
Device people fixed column 14 is quickly connect with mounting plate 1 by positioning column 7 with location hole 9, and upper fixation hole 2 passes through spiral shell with lower fixed hole 8
It tethers and connects, convenient for being connect upper fixation hole 2 with lower fixed hole 8 by bolt；The inner wall of location hole 9 and the outer surface of positioning column 7
Mutually agree with, connect convenient for the inner wall of location hole 9 with the outer surface of positioning column 7, and the quantity of location hole 9 is two, two positioning
Hole 9 is symmetrical arranged along the longitudinal central axis line of mounting plate 1, convenient for providing enough support forces to robot by location hole 9；Load-bearing
Plate 12 is welded on the inside of connection frame 13, and the vertical section of connection frame 13 is L-type, gives machine convenient for 12 mating connection frame 13 of bearing plate
Device people fixed column 14 provides support force.
It please focus on refering to Fig. 2 and Fig. 3, servo motor 16 is rotatablely connected with rotating disc 15 by shaft 4, and servo motor is convenient for
16 drive rotating disc 15 to rotate by shaft 4, and bearing bar 17 is slidably connected with mobile platform 11 by annular groove 20, are convenient for load-bearing
Bar 17 is rotated by annular groove 20 in the upper surface of mobile platform 11；Servo motor 16 and mobile platform 11 are connected by fixed link
It connects, convenient for fixed servo motor 16, the outer surface of bearing bar 17 is mutually agreed with the inner wall of annular groove 20, convenient for limiting bearing bar 17
The inner wall in annular groove 20 is made, prevents it from arbitrarily moving.
It please focus on refering to Fig. 4 and Fig. 5, sliding panel 18 is slidably connected with mobile platform 11 by sliding slot 21, and sliding panel is convenient for
18 are slidably connected by sliding slot 21 with mobile platform 11, and the inner wall of sliding panel 18 and the outer surface of vibration damper plate 25 are mutually agreed with, just
In on the inner wall that vibration damper plate 25 is fastened on sliding panel 18.
It please focus on refering to Fig. 5 and Fig. 6, the outer surface of telescopic mast 23 is mutually agreed with the inner wall of sleeve 24, is convenient for telescopic mast 23
It slides up and down, and telescopic mast 23 is connect with sleeve 24 by inner spring 26, passes through convenient for telescopic mast 23 interior in the inner wall of sleeve 24
Spring 26 is connect with sleeve 24.
Working principle: firstly, when robot to be installed on the device, by the positioning column of 14 bottom end of robot fixed column
7 are connected with the inner wall of location hole 9, reuse bolt and upper fixation hole 2 is connected with lower fixed hole 8, at this time connecting plate 3, bearing plate
12 and the bottom end of connection frame 13 and the upper surface of mounting plate 1 fit closely；Then, when chassis is moved, cylinder 19 is controlled
Operation, cylinder 19 drive sliding panel 18 to move down in the inner wall of mobile platform 11 by sliding slot 21, until the bottom end of pulley 10
With ground face contact, device can be made to fast move, when needing fixed underpan, control cylinder 19 is run, and cylinder 19 drives sliding
Plate 18 is moved up in the inner wall of mobile platform 11, until pulley 10 do not contact completely with ground, at this time the bottom end of fixed plate 5 and
Fixed plate 5 is connect by ground face contact using bolt by screw hole 6 with ground；Finally, being mounted on above mounting plate 1 in adjustment
Robot angle when, control servo motor 16 run, servo motor 16 by shaft 4 drive rotating disc 15 rotate, rotating disc
15 drive the revolute of 1 top of mounting plate by mounting plate 1, while when the rotation of rotating disc 15, driving bearing bar 17 in ring
The inner wall of shape slot 20 rotates, and bearing bar 17 provides enough support forces to rotating disc 15 and servo motor 16.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (9)
1. a kind of robot chassis, including mobile platform (11), it is characterised in that: the inner wall of the mobile platform (11) is provided with
Sliding slot (21), and the top of mobile platform (11) is provided with annular groove (20), the two sides of the mobile platform (11) are respectively and fixedly provided with
Fixed plate (5), the fixed plate (5) are internally provided with screw hole (6), and the inner wall of the sliding slot (21) is connected with sliding panel
(18), the inner wall of the sliding panel (18) is connected with telescopic mast (23), and the outer surface of sliding panel (18) is socketed with sleeve (24),
The top of the sliding panel (18) is equipped with cylinder (19), and the outer surface of the telescopic mast (23) is provided with outer spring (22), institute
Being internally connected with inner spring (26) for sleeve (24) is stated, and the bottom end of sleeve (24) is connected with vibration damper plate (25), the vibration damper plate
(25) bottom end is equipped with pulley (10), and the inner wall of the annular groove (20) is connected with bearing bar (17), the bearing bar (17)
Inside be provided with servo motor (16), the output end of the servo motor (16) is connected with shaft (4), the shaft (4)
Top is connected with rotating disc (15).
2. a kind of robot chassis according to claim 1 and its installing mechanism, including robot fixed column (14), special
Sign is: the fixed column (14) is located at the top position of mobile platform (11), and the two sides of robot fixed column (14) connect
It is connected to connection frame (13), the outer surface of the robot fixed column (14) is connected with connecting plate (3), and robot fixed column (14)
Bottom end be provided with positioning column (7), be connected with bearing plate (12) on the inside of the connection frame (13), the connecting plate (3) it is interior
Portion is provided with fixation hole (2), is provided with mounting plate (1) below the bearing plate (12), the upper surface of the mounting plate (1)
It is provided with location hole (9) below positioning column (7), and the upper surface of mounting plate (1) is set below upper fixation hole (2)
It is equipped with lower fixed hole (8).
3. a kind of robot chassis according to claim 1, it is characterised in that: the servo motor (16) and rotating disc
(15) it is rotatablely connected by shaft (4), the bearing bar (17) is slidably connected with mobile platform (11) by annular groove (20).
4. a kind of robot chassis according to claim 1, it is characterised in that: the sliding panel (18) and mobile platform
(11) it is slidably connected by sliding slot (21), and the inner wall of sliding panel (18) and the outer surface of vibration damper plate (25) are mutually agreed with.
5. a kind of robot chassis according to claim 1, it is characterised in that: the servo motor (16) and mobile platform
(11) it is connected by fixed link, the outer surface of the bearing bar (17) and the inner wall of annular groove (20) mutually agree with.
6. a kind of robot chassis according to claim 1, it is characterised in that: the outer surface of the telescopic mast (23) and set
The inner wall of cylinder (24) mutually agrees with, and telescopic mast (23) is connect with sleeve (24) by inner spring (26).
7. a kind of robot chassis according to claim 2 and its installing mechanism, it is characterised in that: the mounting plate (1)
It is connect by positioning column (7) with location hole (9) with robot fixed column (14), fixed hole (2) and lower fixed hole (8) are logical
It crosses and is bolted.
8. a kind of robot chassis according to claim 2 and its installing mechanism, it is characterised in that: the location hole (9)
The outer surface of inner wall and positioning column (7) mutually agree with, and the quantity of location hole (9) is two, and two location holes (9) are along peace
The longitudinal central axis line of loading board (1) is symmetrical arranged.
9. a kind of robot chassis according to claim 2 and its installing mechanism, it is characterised in that: the bearing plate (12)
It is welded on the inside of connection frame (13), and the vertical section of connection frame (13) is L-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811298658.XA CN109333501A (en) | 2018-11-02 | 2018-11-02 | A kind of robot chassis and its installing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811298658.XA CN109333501A (en) | 2018-11-02 | 2018-11-02 | A kind of robot chassis and its installing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109333501A true CN109333501A (en) | 2019-02-15 |
Family
ID=65313651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811298658.XA Pending CN109333501A (en) | 2018-11-02 | 2018-11-02 | A kind of robot chassis and its installing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333501A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405719A (en) * | 2019-07-28 | 2019-11-05 | 南京昱晟机器人科技有限公司 | A kind of industrial robot and method that stability is good |
| CN110497388A (en) * | 2019-08-28 | 2019-11-26 | 庹艳 | A kind of industrial robot damping base |
| CN111252537A (en) * | 2020-03-12 | 2020-06-09 | 北京奥峰铭金属制品有限公司 | Mechanical arm |
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| CN111252537A (en) * | 2020-03-12 | 2020-06-09 | 北京奥峰铭金属制品有限公司 | Mechanical arm |
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Effective date of registration: 20191008 Address after: 528300 East Office Building 201-11, No. 11 Junye East Road, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant after: Guangdong Bozhilin Robot Co., Ltd. Address before: 519000 -44144, 105 room 6, Baohua Road, Hengqin New District, Zhuhai, Guangdong (centralized office area) Applicant before: Building dream high tech Construction Company Limited |
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Application publication date: 20190215 |