CN110239645A - A kind of robot ambulation platform - Google Patents
A kind of robot ambulation platform Download PDFInfo
- Publication number
- CN110239645A CN110239645A CN201910526456.4A CN201910526456A CN110239645A CN 110239645 A CN110239645 A CN 110239645A CN 201910526456 A CN201910526456 A CN 201910526456A CN 110239645 A CN110239645 A CN 110239645A
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- carrier
- cabinet
- fixedly connected
- elevator
- screw rod
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 29
- 238000009434 installation Methods 0.000 claims description 24
- 241000237858 Gastropoda Species 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 230000000712 assembly Effects 0.000 abstract description 4
- 238000000429 assembly Methods 0.000 abstract description 4
- 230000005611 electricity Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000000969 carrier Substances 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000000515 tooth Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
Abstract
The invention discloses a kind of robot ambulation platform, including carrier, the bottom of the carrier is provided with walking mechanism, and mobile work platform component is provided on the carrier；The walking mechanism includes the adjustable orientation wheel assembly of four height and a height adjustable universal wheel component；Two adjustable orientation wheel assemblies of height are symmetrically fixedly connected on the head of the carrier, for vertically moving；Other two adjustable orientation wheel assembly of height is symmetrically fixedly connected on the head of the carrier, is used for transverse shifting；The height adjustable universal wheel component is fixedly connected among the tail portion of the carrier.The carrier levelling of technical solution of the present invention robot ambulation platform can advance in horizontal, vertical any direction high-precision, have feed accuracy height, turning radius small, the strong advantage of load capacity.
Description
Technical field
The present invention relates to mechanical automation robot fields, and in particular to a kind of robot ambulation platform.
Background technique
Fork truck is be unable to do without in industrial production and articulated arm manipulator, fork truck are mainly used for the carrying of weight, it is impossible to be used in
To the higher precision assembly of required precision.Although flexibly, stress concentrates on joint position to articulated arm manipulator, and load is
Torsional moment, the driving power needed is larger, is limited by structure, and the load that end provides is extremely limited, and maximum specification is at present
300KG.Not only it had been able to satisfy precision but also the mechanical equipment of energy big load carrying or cost is high or bulky.
Summary of the invention
In order to solve the above technical problems, the main object of the present invention is to provide a kind of robot ambulation platform, robot row
The carrier levelling of platform is walked, can be advanced in horizontal, vertical any direction high-precision, load capacity is strong.
In order to achieve the above object, the present invention is resolved using following technical scheme.
A kind of robot ambulation platform, including carrier, the bottom of the carrier are provided with walking mechanism, the carrying
Mobile work platform component is provided on frame；The walking mechanism includes that the adjustable orientation wheel assembly of four height and a height are adjustable
Universal wheel component；Two adjustable orientation wheel assemblies of height are symmetrically fixedly connected on the head of the carrier, for longitudinal
It is mobile；Other two adjustable orientation wheel assembly of height is symmetrically fixedly connected on the head of the carrier, for laterally moving
It is dynamic；The height adjustable universal wheel component is fixedly connected among the tail portion of the carrier.
Further, the adjustable orientation wheel assembly of the height includes the first wheel carrier and the first elevator vertically installed；Institute
It states and the first idler wheel is installed on the first wheel carrier；First elevator is worm and gear spiral lift, first elevator
Comprising the first cabinet, first cabinet is fixedly connected with the carrier, is provided with the first of engagement in first cabinet
Worm screw and the first worm gear；The input terminal of first worm screw stretches out first cabinet and is connected with first motor；Described first
Worm gear is provided centrally with the first screw hole, is provided with the first screw rod in first screw hole；The lower end of first screw rod is fixed
Connect the upper surface of first wheel carrier；The restricted first wheel carrier rotation is arranged on the carrier is vertically directed slot；
Start the first motor, first screw rod, which moves up and down, drives first wheel carrier to move up and down.
Further, the height adjustable universal wheel component includes the second wheel carrier, horizontal mounting plate, bearing and vertical installation
The second elevator；Second idler wheel is installed, the upper surface of second wheel carrier is provided with wheel carrier installation on second wheel carrier
Axis；The outer ring of the bearing is fixedly connected with the horizontal mounting plate, and the inner ring of the bearing is fixed with the wheel carrier installation axle
Connection；Second elevator is worm and gear spiral lift, and second elevator includes the second cabinet, second case
Body is fixedly connected with the carrier, and the second worm screw and the second worm gear of engagement are provided in second cabinet；Described second
The input terminal of worm screw stretches out second cabinet and is connected with the second motor；Second worm gear is provided centrally with the second spiral shell
Hole is provided with the second screw rod in second screw hole；The lower end of second screw rod is fixedly connected with the upper of the horizontal mounting plate
Surface, it is vertically-mounted on the horizontal mounting plate to have multiple shaft shoulder screw rods, it is provided on the carrier and multiple shaft shoulder screw rods
Matched multiple pilot holes；Start second motor, second screw rod, which moves up and down, drives second wheel carrier to transport up and down
It is dynamic.
Further, the height adjustable universal wheel component include the second wheel carrier, horizontal mounting plate, bearing, fixed gear,
Shaft shoulder screw rod, steering motor fixed plate, steering motor and the second elevator vertically installed；Second elevator is worm gear snail
Bar spiral lift, second elevator include the second cabinet, and second cabinet is fixedly connected with the carrier, described
The second worm screw and the second worm gear of engagement are provided in second cabinet；The input terminal of second worm screw stretches out second cabinet
And it is connected with the second motor；Second worm gear is provided centrally with the second screw hole, is provided with second in second screw hole
Bar；The lower end of second screw rod is fixedly connected with the upper surface of the horizontal mounting plate；Second is equipped on second wheel carrier
Idler wheel, the upper surface of second wheel carrier are provided with wheel carrier installation axle, and the wheel carrier installation axle and the inner ring of the bearing are fixed
Connection；The fixed gear adapter sleeve is set on the outer ring of the bearing, is provided with outer ring installation screw on the fixed gear,
Through-hole is provided on the horizontal mounting plate, the shaft shoulder screw flight section passes through the through-hole and screws in the outer ring installation spiral shell
The horizontal mounting plate is fastenedly connected by hole, is provided on the carrier and the matched multiple pilot holes of multiple shaft shoulder screw rods；
The steering motor fixed plate adapter sleeve is set in the wheel carrier installation axle, and the steering motor is fixedly connected on the steering electricity
The lower surface of machine fixed plate, the output shaft of the steering motor stretch out the steering motor fixed plate and are connected with driving gear,
The driving gear is engaged with the fixed gear；Start the steering motor, second wheel carrier is around the center of fixed gear
Axis rotation；Start second motor, second screw rod, which moves up and down, drives second wheel carrier to move up and down.
Further, second idler wheel includes hub motor and the tire being coated on outside hub motor.
Further, the mobile work platform component includes outer mast and the third elevator vertically installed；The external door
Frame bottom is fixedly connected with outer mast pedestal, and the outer mast pedestal is connect with the carrier；The company of sliding on the outer mast
It is connected to inner upright mounting；It is provided with workbench fixing seat on the inner upright mounting, is provided with workbench in the workbench fixing seat；It is described
Third elevator is bevel gear spiral lift, and the third elevator has third cabinet, third screw rod, third movable screw
Female, third input shaft, one end of the third screw rod and one end of third input shaft are respectively arranged with bevel gear and in third case
Engagement in vivo；The third cabinet is fixedly connected on the outer mast pedestal, and the third traveling nut is fixedly connected on institute
It states on inner upright mounting, the third screw rod screws in the third traveling nut, and the other end of the third input shaft is connected with third
Motor；Start the third motor, the third screw rod, which moves up and down, drives the inner upright mounting to move up and down relative to outer mast.
Further, the outer mast pedestal is connect with the carrier；The outer mast have two it is parallel outer vertical
The outside connecting rod of column and connection outer column；The inner upright mounting has the inner link of two parallel inner columns and connection inner column；Two
It is respectively arranged with a pair of of first straight line guide rail on the opposite face of outer column described in item, distinguishes on the opposite face of two inner columns
It is provided with multipair and first straight line guide rail the first sliding block；The third cabinet is fixedly connected with the outer mast pedestal,
The third traveling nut is fixedly connected on the inner column, and the third screw rod screws in the third traveling nut.
Further, being horizontally disposed in the workbench fixing seat has second straight line guide rail, is provided on the workbench
Multiple the second sliding blocks with second straight line guide rail, the workbench are slidably connected in the workbench fixing seat；It is described
It is horizontally installed with the 4th elevator in workbench fixing seat, the 4th elevator is bevel gear spiral lift, the described 4th
Elevator have the 4th cabinet, the 4th screw rod, the 4th traveling nut, the 4th input shaft, one end of the 4th screw rod with it is described
One end of 4th input shaft is respectively arranged with bevel gear and in the 4th cabinet internal messing；4th cabinet is fixedly connected on described
In workbench fixing seat, second traveling nut is fixedly connected on the workbench, and the 4th screw rod screws in described the
The other end of four traveling nuts, the 4th input shaft is connected with the 4th motor；Start the 4th motor, the 4th activity
Nut drives the workbench to move left and right relative to workbench fixing seat level.
Further, third linear guide is provided on the opposite face of two inner columns, the workbench is solid
The multiple and matched third sliding block of third linear guide is provided on the outside of reservation, the workbench fixing seat is slidably connected to institute
It states on inner upright mounting；The 5th elevator is fixedly connected on the inner link vertically, the 5th elevator is worm and gear spiral
Elevator, the 5th elevator have the 5th cabinet, and the 5th cabinet is fixedly connected with the inner link, the 5th case
It is provided with the 5th worm screw and the 5th worm gear of engagement in vivo；5th worm screw stretches out the 5th cabinet and is connected with the 5th electricity
Machine；5th worm gear is provided centrally with the 5th screw hole, is provided with the 5th screw rod in the 5th screw hole；5th screw rod
Upper end is fixedly connected with sprocket holder, and sprocket wheel is equipped on the sprocket holder, is provided with chain on the sprocket wheel, and the one of the chain
End is fixedly connected with the inner link, and the other end is fixedly connected with the workbench fixing seat；Start the 5th motor, it is described
5th screw rod, which moves up and down, drives the workbench fixing seat to move up and down relative to inner upright mounting；
Further, the two sides of the outer mast pedestal are provided with multiple Four-sliders, are provided with one on the carrier
To with matched 4th linear guide of the Four-slider, the outer mast is slidably connected on the carrier；The carrying
Level is fixedly connected with the 6th elevator on frame, and the 6th elevator is worm and gear spiral lift, the 6th lifting
Machine has the 6th cabinet, and the 6th cabinet is fixedly connected with the carrier, and the of engagement is provided in the 6th cabinet
Six worm screws and the 6th worm gear；The input terminal of 6th worm screw stretches out the 6th cabinet and is connected with the 6th motor；Described
Six worm gears are provided centrally with the 6th screw hole, are provided with the 6th screw rod in the 6th screw hole；The front end of 6th screw rod with
The outer mast pedestal is fixedly connected；
Start the 6th motor, the 6th screw rod, which moves forward and backward, drives the outer mast pedestal relative in carrier
It moves forward and backward.
The carrier levelling of technical solution of the present invention robot ambulation platform, can be in horizontal, vertical any direction height
Precision is advanced, and has feed accuracy height, turning radius small, the strong advantage of load capacity.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
The structure shown according to these attached drawings obtains other attached drawings.
Fig. 1 is the stereoscopic schematic diagram at one visual angle of robot ambulation platform embodiment of the present invention；
Fig. 2 is the stereoscopic schematic diagram of the adjustable orientation wheel assembly of height in Fig. 1；
Fig. 3 is the stereoscopic schematic diagram and height adjustable universal wheel at another visual angle of robot ambulation platform embodiment of the present invention
Component partial sectional view；
Fig. 4 is enlarged drawing at A in Fig. 3；
Fig. 5 is height adjustable universal wheel component perspective view.
In the above figure:
1 carrier；101 the 4th linear guides；
The 2 adjustable orientation wheel assemblies of height；201 first wheel carriers；202 first elevators；2021 first cabinets；2022 first electricity
Machine；2023 first screw rods；203 first idler wheels；
3 height adjustable universal wheel components；301 second wheel carriers；3011 wheel carrier installation axles；302 horizontal mounting plates；3021 shaft shoulders
Screw rod；303 bearings；304 second elevators；3041 second cabinets；3042 second motors；3043 second screw rods；305 second rollings
Wheel；3051 hub motors；3052 tires；306 fixed gears；307 steering motor fixed plates；308 steering motors；309 driving tooths
Wheel；
4 outer masts；401 outer mast pedestals；4011 Four-sliders；402 outer columns；4021 first straight line guide rails；Connect outside 403
Bar；
5 inner upright mountings；501 inner columns；5012 third linear guides；502 inner links；
6 workbench fixing seats；601 second straight line guide rails；
7 workbench；
8 third elevators；801 third cabinets；802 third screw rods；803 third traveling nuts；804 third input shafts；805
Third motor；
9 the 4th elevators；901 the 4th cabinets；902 the 4th screw rods；903 the 4th input shafts；904 the 4th motors；
10 the 5th elevators；1001 the 5th cabinets；1002 the 5th motors；1003 the 5th screw rods；
11 sprocket holders；
12 sprocket wheels；
13 chains；
14 the 6th elevators；1401 the 6th cabinets；1402 the 6th motors；1403 the 6th screw rods；
15 auxiliary universal wheels；
16 double-shaft tilt angle sensors.
Specific embodiment
It is understandable in order to enable the above objects, features and advantages of the present invention to become apparent, with reference to the accompanying drawing to this hair
Bright specific embodiment is described in detail.
Detail is elaborated in the following description to fully understand the present invention.But the present invention can with it is a variety of not
Other way described herein is same as to implement, those skilled in the art can do class without violating the connotation of the present invention
Like popularization.Therefore the present invention is not limited by following public specific embodiment.
With reference to Fig. 1 and Fig. 3, a kind of robot ambulation platform, including carrier 1, the bottom of the carrier 1 are provided with row
Mechanism is walked, is provided with mobile work platform component on the carrier 1；The walking mechanism includes the adjustable directional wheel group of four height
Part 2 and a height adjustable universal wheel component 3；Two adjustable orientation wheel assemblies 2 of height are symmetrically fixedly connected on described hold
The head of carrier 1, for vertically moving；Other two described adjustable orientation wheel assembly 2 of height is symmetrically fixedly connected on described hold
The head of carrier 1 is used for transverse shifting；The height adjustable universal wheel component 3 is fixedly connected in the tail portion of the carrier 1
Between.
In above embodiments, the adjustable orientation wheel assembly 2 of height and two transverse directions of two longitudinal directions are installed on 1 head of carrier
The adjustable orientation wheel assembly 2 of height, one height adjustable universal wheel component 3 is installed between two parties in 1 tail portion of carrier.When two longitudinal directions
The adjustable orientation wheel assembly 2 of height and height adjustable universal wheel component 3 land, robot ambulation platform can forward-reverse；When two
A lateral height is adjustable orientation wheel assembly 2 and height adjustable universal wheel component 3 land, and robot ambulation platform can control shifting
It is dynamic；Robot ambulation platform may be implemented any direction in plane and walk, and turning radius greatly reduces, and accuracy is higher.
Further, with reference to Fig. 1 and Fig. 2, the adjustable orientation wheel assembly 2 of height includes the first wheel carrier 201 and vertical peace
First elevator 202 of dress；First idler wheel 203 is installed on first wheel carrier 201；First elevator 202 is worm gear
Worm spiral elevator, first elevator 202 include the first cabinet 2021, first cabinet 2021 and the carrier
1 is fixedly connected, and the first worm screw and the first worm gear of engagement are provided in first cabinet 2021；The input of first worm screw
End stretches out first cabinet 2021 and is connected with first motor 2022；First worm gear is provided centrally with the first screw hole,
The first screw rod 2023 is provided in first screw hole；The lower end of first screw rod 2023 is fixedly connected with first wheel carrier
201 upper surface；The restricted rotation of first wheel carrier 201 is arranged on the carrier 1 is vertically directed slot；Start described
One motor 2022, first screw rod 2023, which moves up and down, drives first wheel carrier 201 to move up and down.
In above embodiments, the height preferred worm and gear spiral lift of adjustable orientation wheel assembly 2, the center of the first worm gear
It is provided with the first screw hole, and the first cabinet 2021 and carrier 1 are fixed, first motor 2022 drives the rotation of the first worm gear, quite
Nut is fixed and is rotated in leadscrew-nut mechanism, and limitation lead screw rotation can be realized lead screw and move up and down.Snail in the present embodiment
Wheel is equivalent to nut, and the first screw rod 2023 is equivalent to lead screw, is vertically directed slot for limiting the first screw rod 2023 on carrier 1
Rotation.
The height on 1 head of carrier is adjustable orientation wheel assembly 2 and 1 tail portion of carrier 3 shape of height adjustable universal wheel component
At three-point support structure, can keep stablizing in arbitrary plane.Of course for preventing ground over-tilting from leading to robot ambulation
Platform is toppled over, and can be symmetrical arranged two auxiliary universal wheels 15 in the tail portion of carrier 1.
Further, with reference to Fig. 3 and Fig. 4, the height adjustable universal wheel component 3 includes the second wheel carrier 301, is horizontally mounted
Plate 302, bearing 303 and the second elevator 304 vertically installed；Second idler wheel 305, institute are installed on second wheel carrier 301
The upper surface for stating the second wheel carrier 301 is provided with wheel carrier installation axle 3011；The outer ring of the bearing 303 and the horizontal mounting plate
302 are fixedly connected, and the inner ring of the bearing 303 is fixedly connected with the wheel carrier installation axle 3011；Second elevator 304 is
Worm and gear spiral lift, second elevator 304 include the second cabinet 3041, and second cabinet 3041 is held with described
Carrier 1 is fixedly connected, and the second worm screw and the second worm gear of engagement are provided in second cabinet 3041；Second worm screw
Input terminal stretches out second cabinet 3041 and is connected with the second motor 3042；Second worm gear is provided centrally with the second spiral shell
Hole is provided with the second screw rod 3043 in second screw hole；The lower end of second screw rod 3043 is fixedly connected with the horizontal peace
The upper surface of loading board 302, it is vertically-mounted on the horizontal mounting plate 302 to have multiple shaft shoulder screw rods 3021, it is set on the carrier 1
It is equipped with and the matched multiple pilot holes of multiple shaft shoulder screw rods 3021；Start second motor 3042, second screw rod 3043
It moves up and down and second wheel carrier 301 is driven to move up and down.
In above embodiments, the lifting of height adjustable universal wheel component 3 also uses worm and gear spiral lift, and principle is same
Highly adjustable orientation wheel assembly 2.
In order to improve the automatization level of robot ambulation platform, realization is precisely controlled, and is equipped with twin shaft on the carrier 1 there
Obliquity sensor 16, the double-shaft tilt angle sensor 16 provide the level inclination of the car body for controlling the adjustable directional wheel of height
Component 2 or height adjustable universal wheel component 3 keep 1 holding of carrier horizontal.
With reference to Fig. 3 to Fig. 5, as another embodiment of the adjustable orientation wheel assembly 2 of height, the height adjustable universal wheel
Component 3 includes the second wheel carrier 301, horizontal mounting plate 302, bearing 303, fixed gear 306, shaft shoulder screw rod 3021, steering motor
Fixed plate 307, steering motor 308 and the second elevator 304 vertically installed；Second elevator 304 is worm and gear spiral shell
Elevator is revolved, second elevator 304 includes the second cabinet 3041, and second cabinet 3041 and the carrier 1 are fixed
It connects, the second worm screw and the second worm gear of engagement is provided in second cabinet 3041；The input terminal of second worm screw is stretched
Second cabinet 3041 and it is connected with the second motor 3042 out；Second worm gear is provided centrally with the second screw hole, described
The second screw rod 3043 is provided in second screw hole；The lower end of second screw rod 3043 is fixedly connected with the horizontal mounting plate 302
Upper surface；Second idler wheel 305 is installed, the upper surface of second wheel carrier 301 is provided with wheel carrier on second wheel carrier 301
Installation axle 3011, the wheel carrier installation axle 3011 are fixedly connected with the inner ring of the bearing 303；The fixed gear 306 fastens
It is sheathed on the outer ring of the bearing 303, is provided with outer ring installation screw, the horizontal mounting plate on the fixed gear 306
Through-hole is provided on 302, the thread segment of the shaft shoulder screw rod 3021 passes through the through-hole and screws in the outer ring installation screw for institute
It states horizontal mounting plate 302 to be fastenedly connected, be provided on the carrier 1 and the matched multiple guiding of multiple shaft shoulder screw rods 3021
Hole；307 adapter sleeve of steering motor fixed plate is set in the wheel carrier installation axle 3011, and the steering motor 308 is fixed to be connected
It is connected to the lower surface of the steering motor fixed plate 307, the output shaft of the steering motor 308, which stretches out the steering motor, to be fixed
Plate 307 and it is connected with driving gear 309, the driving gear 309 is engaged with the fixed gear 306；Start the steering electricity
Machine 308, central axis rotation of second wheel carrier 301 around fixed gear 306；Start second motor 3042, described second
Screw rod 3043, which moves up and down, drives second wheel carrier 301 to move up and down.
In above embodiments, universal rotational is both may be implemented in height adjustable universal wheel component 3, can also realize that height can
It adjusts.Similarly, in order to improve the automatization level of robot ambulation platform, realization is precisely controlled, and is equipped with twin shaft on the carrier 1 there
Obliquity sensor 16, the double-shaft tilt angle sensor 16 provide the level inclination of the car body for controlling the adjustable directional wheel of height
Component 2 or height adjustable universal wheel component 3 keep 1 holding of carrier horizontal.
Further, with reference to Fig. 4, second idler wheel 305 includes hub motor 3051 and is coated on hub motor 3051
External tire 3052.
In above embodiments, the second idler wheel 305 includes hub motor 3051 and tire 3052, i.e. height adjustable universal wheel group
Driving wheel of the part 3 as robot ambulation platform advances for robot ambulation platform, retreats, steering provides driving force.Wheel hub electricity
3051 output power of machine is high-efficient, and the materials such as rubber or polyurethane can be selected in tire 3052.
Further, with reference to Fig. 1 and Fig. 3, the mobile work platform component includes outer mast 4 and the third liter vertically installed
Drop machine 8；4 bottom of outer mast is fixedly connected with outer mast pedestal 401, and the outer mast pedestal 401 connects with the carrier 1
It connects；Inner upright mounting 5 is slidably connected on the outer mast 4；Workbench fixing seat 6, the workbench are provided on the inner upright mounting 5
Workbench 7 is provided in fixing seat 6；The third elevator 8 is bevel gear spiral lift, and the third elevator 8 has
Third cabinet 801, third screw rod 802, third traveling nut 803, third input shaft 804, one end of the third screw rod 802 and
One end of third input shaft 804 is respectively arranged with bevel gear and in 801 internal messing of third cabinet；The third cabinet 801 is fixed
It is connected on the outer mast pedestal 401, the third traveling nut 803 is fixedly connected on the inner upright mounting 5, the third
Screw rod 802 screws in the third traveling nut 803, and the other end of the third input shaft 804 is connected with third motor 805；It opens
The third motor 805 is moved, the third screw rod 802, which moves up and down, drives the inner upright mounting 5 to transport relative to about 4 outer mast
It is dynamic.
In above embodiments, outer mast 4 is connected on the carrier 1 there by outer mast pedestal 401, and inner upright mounting 5 is slidably connected
In on outer mast 4, being equipped with third elevator 8 between inner upright mounting 5 and outer mast 4, third elevator 8 is specially bevel gear spiral
Elevator.Inner upright mounting 5 makes leadscrew-nut mechanism relative to what outer mast 4 moved up and down use, and lead screw is fixed, limitation nut from
Turn, nut can be realized and move up and down, in the present embodiment, third traveling nut 803 is equivalent to nut, and third screw rod 802 is suitable
In lead screw.
Further, with reference to Fig. 1 and Fig. 3, the outer mast pedestal 401 is connect with the carrier 1；The outer mast 4
Outside connecting rod 403 with two parallel outer columns 402 and connection outer column 402；The inner upright mounting 5 have two it is parallel interior
The inner link 502 of column 501 and connection inner column 501；A pair of the is respectively arranged on the opposite face of two articles of outer columns 402
One linear guide 4021, be respectively arranged on the opposite face of two inner columns 501 it is multipair with 4021, first straight line guide rail
The first sliding block matched；The third cabinet 801 is fixedly connected with the outer mast pedestal 401, and the third traveling nut 803 is solid
Surely it is connected on the inner column 501, the third screw rod 802 screws in the third traveling nut 803.
In above embodiments, it is preferred that outer mast 4 has two outer columns 402, and inner upright mounting 5 has two inner columns
501, it is connected by straight-line guide rail slide block pair between them, realizes inner upright mounting 5 relative to outer mast 4 by third elevator 8
It moves up and down.In practice, robot ambulation platform principle can realize multistage lifting mechanism according to this according to demand.
Further, with reference to Fig. 1 and Fig. 3, being horizontally disposed in the workbench fixing seat 6 has second straight line guide rail 601, institute
It states and is provided with multiple and matched second sliding block of second straight line guide rail 601 on workbench 7, the workbench 7 is slidably connected to institute
It states in workbench fixing seat 6；The 4th elevator 9 is horizontally installed in the workbench fixing seat 6, the 4th elevator 9 is
Bevel gear spiral lift, the 4th elevator 9 have the 4th cabinet 901, the 4th screw rod 902, the 4th traveling nut, the 4th
Input shaft 903, one end of the 4th screw rod 902 and one end of the 4th input shaft 903 be respectively arranged with bevel gear and
4th cabinet, 901 internal messing；4th cabinet 901 is fixedly connected in the workbench fixing seat 6, second movable screw
Mother is fixedly connected on the workbench 7, and the 4th screw rod 902 screws in the 4th traveling nut, the 4th input shaft
903 other end is connected with the 4th motor 904；Start the 4th motor 904, the 4th traveling nut drives the work
Platform 7 is moved left and right relative to 6 level of workbench fixing seat.
In above embodiments, workbench fixing seat 6 is connect with workbench 7 by straight-line guide rail slide block pair, passes through lateral peace
It fills the 4th elevator 9 and realizes the moving left and right relative to workbench fixing seat 6 of workbench 7.
Further, with reference to Fig. 1 and Fig. 3, third straight line is provided on the opposite face of two inner columns 501 and is led
Rail 5012, the outside of the workbench fixing seat 6 is provided with the multiple and matched third sliding block of third linear guide 5012, described
Workbench fixing seat 6 is slidably connected on the inner upright mounting 5；It is fixedly connected with the 5th elevator vertically on the inner link 502
10, the 5th elevator 10 is worm and gear spiral lift, and the 5th elevator 10 has the 5th cabinet 1001, described
5th cabinet 1001 is fixedly connected with the inner link 502, be provided in the 5th cabinet 1001 engagement the 5th worm screw and
5th worm gear；5th worm screw stretches out the 5th cabinet 1001 and is connected with the 5th motor 1002；In 5th worm gear
The heart is provided with the 5th screw hole, is provided with the 5th screw rod 1003 in the 5th screw hole；The upper end of 5th screw rod 1003 is fixed
It is connected with sprocket holder 11, sprocket wheel 12 is installed on the sprocket holder 11, chain 13, the chain 13 are provided on the sprocket wheel 12
One end be fixedly connected with the inner link 502, the other end is fixedly connected with the workbench fixing seat 6；Start the described 5th
Motor 1002, the 5th screw rod 1003, which moves up and down, drives the workbench fixing seat 6 to move up and down relative to inner upright mounting 5；
In above embodiments, workbench fixing seat 6 is connect with inner upright mounting 5 by straight-line guide rail slide block pair, by vertically pacifying
It fills the 4th elevator 9 and realizes the moving left and right relative to workbench fixing seat 6 of workbench 7.In the present embodiment, the installation of sprocket wheel 12
Movable pulley mechanism is specifically used, sprocket wheel 12 is under the drive of the 4th screw rod 902, the speed of the up and down motion of workbench fixing seat 6
It is twice of 12 up and down motion speed of sprocket wheel.
Further, with reference to Fig. 1 and Fig. 3, the two sides of the outer mast pedestal 401 are provided with multiple Four-sliders 4011,
A pair of and matched 4th linear guide 101 of the Four-slider 4011 is provided on the carrier 1, the outer mast 4 is sliding
It is dynamic to be connected on the carrier 1；Level is fixedly connected with the 6th elevator 14, the 6th elevator on the carrier 1
14 be worm and gear spiral lift, and the 6th elevator 14 has the 6th cabinet 1401, the 6th cabinet 1401 and institute
It states carrier 1 to be fixedly connected, the 6th worm screw and the 6th worm gear of engagement is provided in the 6th cabinet 1401；6th snail
The input terminal of bar stretches out the 6th cabinet 1401 and is connected with the 6th motor 1402；6th worm gear is provided centrally with
Six screw holes are provided with the 6th screw rod 1403 in the 6th screw hole；The front end and the outer mast bottom of 6th screw rod 1403
Seat 401 is fixedly connected；Start the 6th motor 1402, the 6th screw rod 1403, which moves forward and backward, drives the outer mast pedestal
401 move forward and backward relative to carrier 1.
In above embodiments, for the ease of robot ambulation platform centre of gravity adjustment, 4 fixing seat of outer mast and carrier 1 are logical
The connection of straight-line guide rail slide block pair is crossed, can realize that outer mast 4 is moved relative to the front and back of carrier 1 by being transversely mounted stream elevator
It is dynamic.
Robot ambulation platform of the invention may be implemented any direction in plane and walk, the table assembly installed thereon
Before and after can be achieved, upper and lower, left and right is accurate mobile, wherein outer mast 4 is nested with 5 structure of inner upright mounting, can make table assembly reality
Existing secondary lifting even multistage lifting.
Although the present invention is described in detail with a general description of the specific embodiments in this specification,
But on the basis of the present invention, it can be made some modifications or improvements, this it will be apparent to those skilled in the art that.Cause
This, these modifications or improvements on the basis of without departing from the present invention are fallen within the scope of the claimed invention.
Claims (10)
1. a kind of robot ambulation platform, which is characterized in that including carrier (1), the bottom of the carrier (1) is provided with row
Mechanism is walked, is provided with mobile work platform component on the carrier (1)；
The walking mechanism includes the adjustable orientation wheel assembly (2) of four height and a height adjustable universal wheel component (3)；
Two adjustable orientations wheel assembly (2) of height are symmetrically fixedly connected on the head of the carrier (1), move for longitudinal
It is dynamic；Other two adjustable orientation wheel assembly (2) of height is symmetrically fixedly connected on the head of the carrier (1), for cross
To movement；The height adjustable universal wheel component (3) is fixedly connected among the tail portion of the carrier (1).
2. robot ambulation platform according to claim 1, which is characterized in that the adjustable orientation wheel assembly (2) of height
The first elevator (202) comprising the first wheel carrier (201) and vertically installed；
The first idler wheel (203) are installed on first wheel carrier (201)；
First elevator (202) is worm and gear spiral lift, and first elevator (202) includes the first cabinet
(2021), first cabinet (2021) is fixedly connected with the carrier (1), is provided with and nibbles in first cabinet (2021)
The first worm screw closed and the first worm gear；The input terminal of first worm screw stretches out first cabinet (2021) and is connected with first
Motor (2022)；First worm gear is provided centrally with the first screw hole, is provided with the first screw rod in first screw hole
(2023)；The lower end of first screw rod (2023) is fixedly connected with the upper surface of first wheel carrier (201)；The carrier
(1) restricted first wheel carrier (201) rotation is arranged on is vertically directed slot；
Start the first motor (2022), first screw rod (2023), which moves up and down, to be driven on first wheel carrier (201)
Lower movement.
3. robot ambulation platform according to claim 1, which is characterized in that the height adjustable universal wheel component (3)
Include the second wheel carrier (301), horizontal mounting plate (302), bearing (303) and vertical the second elevator (304) for installing；
It is equipped with the second idler wheel (305) on second wheel carrier (301), the upper surface of second wheel carrier (301) is provided with wheel
Frame installation axle (3011)；
The outer ring of the bearing (303) is fixedly connected with the horizontal mounting plate (302), the inner ring of the bearing (303) and institute
Wheel carrier installation axle (3011) is stated to be fixedly connected；
Second elevator (304) is worm and gear spiral lift, and second elevator (304) includes the second cabinet
(3041), second cabinet (3041) is fixedly connected with the carrier (1), is provided with and nibbles in second cabinet (3041)
The second worm screw closed and the second worm gear；The input terminal of second worm screw stretches out second cabinet (3041) and is connected with second
Motor (3042)；Second worm gear is provided centrally with the second screw hole, is provided with the second screw rod in second screw hole
(3043)；
The lower end of second screw rod (3043) is fixedly connected with the upper surface of the horizontal mounting plate (302), described to be horizontally mounted
It is vertically-mounted on plate (302) to have multiple shaft shoulder screw rods (3021), it is provided on the carrier (1) and multiple shaft shoulder screw rods
(3021) matched multiple pilot holes；
Start second motor (3042), second screw rod (3043), which moves up and down, to be driven on second wheel carrier (301)
Lower movement.
4. robot ambulation platform according to claim 1, which is characterized in that the height adjustable universal wheel component (3)
Comprising the second wheel carrier (301), horizontal mounting plate (302), bearing (303), fixed gear (306), shaft shoulder screw rod (3021), turn to
Motor fixing plate (307), steering motor (308) and the second elevator (304) vertically installed；
Second elevator (304) is worm and gear spiral lift, and second elevator (304) includes the second cabinet
(3041), second cabinet (3041) is fixedly connected with the carrier (1), is provided with and nibbles in second cabinet (3041)
The second worm screw closed and the second worm gear；The input terminal of second worm screw stretches out second cabinet (3041) and is connected with second
Motor (3042)；Second worm gear is provided centrally with the second screw hole, is provided with the second screw rod in second screw hole
(3043)；The lower end of second screw rod (3043) is fixedly connected with the upper surface of the horizontal mounting plate (302)；
It is equipped with the second idler wheel (305) on second wheel carrier (301), the upper surface of second wheel carrier (301) is provided with wheel
Frame installation axle (3011), the wheel carrier installation axle (3011) are fixedly connected with the inner ring of the bearing (303)；
Fixed gear (306) adapter sleeve is set on the outer ring of the bearing (303), is arranged on the fixed gear (306)
There is outer ring installation screw, through-hole is provided on the horizontal mounting plate (302), the thread segment of the shaft shoulder screw rod (3021) passes through
The through-hole screws in the outer ring installation screw and is fastenedly connected the horizontal mounting plate (302), is arranged on the carrier (1)
Have and multiple matched multiple pilot holes of shaft shoulder screw rod (3021)；
Steering motor fixed plate (307) adapter sleeve is set on the wheel carrier installation axle (3011), the steering motor (308)
It is fixedly connected on the lower surface of the steering motor fixed plate (307), the output shaft of the steering motor (308) stretches out described turn
It to motor fixing plate (307) and is connected with driving gear (309), the driving gear (309) is nibbled with the fixed gear (306)
It closes；
Start the steering motor (308), central axis rotation of second wheel carrier (301) around fixed gear (306)；
Start second motor (3042), second screw rod (3043), which moves up and down, to be driven on second wheel carrier (301)
Lower movement.
5. robot ambulation platform according to claim 3 or 4, which is characterized in that second idler wheel (305) includes wheel
Hub motor (3051) and the tire (3052) for being coated on hub motor (3051) outside.
6. robot ambulation platform according to claim 1, which is characterized in that the mobile work platform component includes external door
Frame (4) and the third elevator (8) vertically installed；
Outer mast (4) bottom is fixedly connected with outer mast pedestal (401), the outer mast pedestal (401) and the carrying
Frame (1) connection；Inner upright mounting (5) are slidably connected on the outer mast (4)；Workbench is provided on the inner upright mounting (5) to fix
Seat (6) is provided with workbench (7) on the workbench fixing seat (6)；
The third elevator (8) is bevel gear spiral lift, and the third elevator (8) has third cabinet (801), the
Three screw rods (802), third traveling nut (803), third input shaft (804), one end of the third screw rod (802) and third are defeated
The one end for entering axis (804) is respectively arranged with bevel gear and in third cabinet (801) internal messing；
The third cabinet (801) is fixedly connected on the outer mast pedestal (401), and the third traveling nut (803) is solid
Surely it is connected on the inner upright mounting (5), the third screw rod (802) screws in the third traveling nut (803), and the third is defeated
The other end for entering axis (804) is connected with third motor (805)；Start the third motor (805), the third screw rod (802)
It moves up and down and the inner upright mounting (5) is driven to move up and down relative to the outer mast (4).
7. robot ambulation platform according to claim 6, which is characterized in that the outer mast pedestal (401) with it is described
Carrier (1) connection；
The outer mast (4) has two parallel outer columns (402) and connects the outside connecting rod (403) of outer column (402)；
The inner upright mounting (5) has two parallel inner columns (501) and connects the inner link (502) of inner column (501)；Two
A pair of of first straight line guide rail (4021), two inner columns (501) are respectively arranged on the opposite face of the outer column (402)
Multipair and first straight line guide rail (4021) matched first sliding block is respectively arranged on opposite face；The third cabinet (801)
It is fixedly connected with outer mast pedestal (401), the third traveling nut (803) is fixedly connected on the inner column (501), institute
It states third screw rod (802) and screws in the third traveling nut (803).
8. robot ambulation platform according to claim 6, which is characterized in that horizontal on the workbench fixing seat (6)
It is provided with second straight line guide rail (601), multiple matched with second straight line guide rail (601) the is provided on the workbench (7)
Two sliding blocks, the workbench (7) are slidably connected on the workbench fixing seat (6)；
The 4th elevator (9) is horizontally installed on the workbench fixing seat (6), the 4th elevator (9) is bevel gear spiral shell
Revolve elevator, the 4th elevator (9) has the 4th cabinet (901), the 4th screw rod (902), the 4th traveling nut, the 4th defeated
Enter axis (903), one end of the 4th screw rod (902) and one end of the 4th input shaft (903) are respectively arranged with bevel gear
And in the 4th cabinet (901) internal messing；4th cabinet (901) is fixedly connected on the workbench fixing seat (6), described
Second traveling nut is fixedly connected on the workbench (7), and the 4th screw rod (902) screws in the 4th traveling nut,
The other end of 4th input shaft (903) is connected with the 4th motor (904)；
Start the 4th motor (904), the 4th traveling nut drives the workbench (7) solid relative to the workbench
Reservation (6) level moves left and right.
9. robot ambulation platform according to claim 7, which is characterized in that two inner column (501) phases
Pair face on be provided with third linear guide (5012), be provided on the outside of the workbench fixing seat (6) multiple straight with third
The matched third sliding block of line guide rail (5012), the workbench fixing seat (6) are slidably connected on the inner upright mounting (5)；
The 5th elevator (10) is fixedly connected on the inner link (502) vertically, the 5th elevator (10) is worm gear snail
Bar spiral lift, the 5th elevator (10) have the 5th cabinet (1001), the 5th cabinet (1001) with it is described interior
Connecting rod (502) is fixedly connected, and the 5th worm screw and the 5th worm gear of engagement are provided in the 5th cabinet (1001)；Described 5th
Worm screw stretches out the 5th cabinet (1001) and is connected with the 5th motor (1002)；5th worm gear is provided centrally with the 5th spiral shell
Hole is provided with the 5th screw rod (1003) in the 5th screw hole；The upper end of 5th screw rod (1003) is fixedly connected with sprocket wheel
Frame (11) is equipped with sprocket wheel (12) on the sprocket holder (11), is provided with chain (13), the chain on the sprocket wheel (12)
(13) one end is fixedly connected with the inner link (502), and the other end is fixedly connected with the workbench fixing seat (6)；
Start the 5th motor (1002), the 5th screw rod (1003), which moves up and down, drives the workbench fixing seat (6)
It moves up and down relative to the inner upright mounting (5).
10. robot ambulation platform according to claim 6, which is characterized in that the two sides of the outer mast pedestal (401)
Multiple Four-sliders (4011) are provided with, are provided on the carrier (1) a pair of matched with the Four-slider (4011)
4th linear guide (101), the outer mast (4) are slidably connected on the carrier (1)；
Level is fixedly connected with the 6th elevator (14) on the carrier (1), and the 6th elevator (14) is worm and gear
Spiral lift, the 6th elevator (14) have the 6th cabinet (1401), the 6th cabinet (1401) and the carrying
Frame (1) is fixedly connected, and the 6th worm screw and the 6th worm gear of engagement are provided in the 6th cabinet (1401)；6th worm screw
Input terminal stretch out the 6th cabinet (1401) and be connected with the 6th motor (1402)；6th worm gear is provided centrally with
6th screw hole is provided with the 6th screw rod (1403) in the 6th screw hole；The front end of 6th screw rod (1403) and described outer
Door frame pedestal (401) is fixedly connected；
Start the 6th motor (1402), the 6th screw rod (1403), which moves forward and backward, drives the outer mast pedestal (401)
It is moved forward and backward relative to the carrier (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526456.4A CN110239645A (en) | 2019-06-18 | 2019-06-18 | A kind of robot ambulation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526456.4A CN110239645A (en) | 2019-06-18 | 2019-06-18 | A kind of robot ambulation platform |
Publications (1)
| Publication Number | Publication Date |
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| CN110239645A true CN110239645A (en) | 2019-09-17 |
Family
ID=67887852
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910526456.4A Pending CN110239645A (en) | 2019-06-18 | 2019-06-18 | A kind of robot ambulation platform |
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| CN (1) | CN110239645A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112477978A (en) * | 2020-11-23 | 2021-03-12 | 湖南利美防爆装备制造股份有限公司 | Full-angle steering wheel and use method thereof |
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