CN111634340B - Mobile chassis for industrial robot - Google Patents
Mobile chassis for industrial robot Download PDFInfo
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- CN111634340B CN111634340B CN202010502673.2A CN202010502673A CN111634340B CN 111634340 B CN111634340 B CN 111634340B CN 202010502673 A CN202010502673 A CN 202010502673A CN 111634340 B CN111634340 B CN 111634340B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a mobile chassis for an industrial robot, comprising: the movable base plate is provided with a rotating structure, the rotating structure is provided with a damping structure, and the damping structure is provided with an adjustable movable structure; the adjustable type crawler belt device has the advantages that the position of the bearing moving block is changed through the adjustable type moving structure, so that the shape of the moving crawler belt is changed, the moving crawler belt can meet the requirement that the device climbs on different slopes, meanwhile, vibration in the moving process is converted into force in other forms through the damping structure, the device can move horizontally and stably better, and meanwhile, the horizontal moving direction is changed through the rotating structure.
Description
Technical Field
The invention relates to the technical field of horizontal operation of industrial robots, in particular to a movable chassis for an industrial robot.
Background
With the continuous research and development of the robot technology, the requirement for the mobile chassis is also larger and larger. At present, a differential wheel type or non-suspension type chassis is generally adopted in a robot moving chassis, the chassis has high requirement on road surface flatness, can not adapt to various road conditions, has poor movement flexibility and bearing capacity, and can not meet the requirement that the chassis is in an abnormal working condition although tires can filter self-vibration caused by the movement of the omnidirectional moving chassis. In particular, for the case of omnidirectional movement of the chassis down steps, in a flight gully, and in climbing, the single linear suspension may cause adverse effects on the vehicle body structure and the vehicle-mounted instrument once it bottoms out, and therefore, the present invention has been made in view of the above problems.
Disclosure of Invention
The invention aims to solve the problems, designs a moving chassis for an industrial robot, and solves the problems of vibration and the like in the existing moving process.
The technical scheme of the invention for realizing the aim is as follows: a mobile chassis for an industrial robot, comprising: the movable base plate is provided with a rotating structure, the rotating structure is provided with a damping structure, and the damping structure is provided with an adjustable movable structure;
the adjustable moving structure comprises: the device comprises two pairs of moving bottom boxes with the same structure, four pairs of horizontal displacement hydraulic push rods with the same structure, two pairs of vertical displacement hydraulic push rods with the same structure, twelve pairs of bearing moving blocks with the same structure, six pairs of moving shafts with the same structure, twelve pairs of moving wheels with the same structure, four pairs of moving tracks with the same structure, a driving component and an auxiliary fixing component;
the two pairs of movable bottom boxes are arranged on a damping structure, four pairs of T-shaped moving grooves with the same structure are formed in the two pairs of movable bottom boxes respectively, twelve pairs of bearing moving blocks are movably arranged in the four pairs of T-shaped moving grooves respectively, six pairs of moving shafts are inserted into the twelve pairs of bearing moving blocks respectively, twelve pairs of moving wheels are arranged on the six pairs of moving shafts respectively, six pairs of moving shafts are arranged on the four pairs of movable tracks respectively, four pairs of horizontal displacement hydraulic push rods and two pairs of vertical displacement hydraulic push rods are arranged in the movable bottom boxes, and the auxiliary fixing assemblies are arranged on the four pairs of horizontal displacement hydraulic push rods and two pairs of vertical displacement hydraulic push rod pushing ends.
Preferably, the shock absorbing structure comprises: the damping device comprises two pairs of cylindrical fixed shafts with the same structure, four pairs of damping spring columns with the same structure, two pairs of damping springs with the same structure, four pairs of telescopic rods with the same structure and four pairs of connecting columns with the same structure;
the two pairs of the cylinder fixing shafts are respectively connected to the two pairs of the movable bottom boxes, the four pairs of the damping spring columns are respectively installed on the two pairs of the cylinder fixing shafts, the other ends of the four pairs of the damping spring columns are connected to the rotating structure, the two pairs of the damping springs are movably sleeved on the two pairs of the cylinder fixing shafts, the four pairs of the connecting columns are respectively installed on the two pairs of the damping springs, the other ends of the four pairs of the connecting columns are connected to the rotating structure, the four pairs of the telescopic rods are respectively installed on the two pairs of the cylinder fixing shafts, and the other ends of the four pairs of the telescopic rods are connected to the rotating structure.
Preferably, the rotating structure includes: the hydraulic push rod mechanism comprises a pair of rotating boxes with the same structure, a pair of rotating hydraulic push rods with the same structure, a pair of rotating clamping strips with the same structure, a pair of rotating gears with the same structure and a pair of angle adjusting shafts with the same structure;
the pair of angle adjusting shafts are movably inserted on the pair of rotating boxes through bearings, the pair of angle adjusting shafts are installed on the moving bottom plate, the pair of rotating gears are installed on the pair of angle adjusting shafts respectively, the pair of rotating hydraulic push rods are installed in the pair of rotating boxes respectively, the pair of rotating clamping strips are installed on the pushing ends of the pair of rotating hydraulic push rods respectively, and the pair of rotating clamping strips are meshed with the pair of rotating gear gears respectively.
Preferably, a plurality of auxiliary sliding blocks with the same structure are arranged on the pair of rotating boxes, and a pair of auxiliary sliding ways with the same structure are arranged at the bottom end of the movable bottom plate.
Preferably, the auxiliary fixing assembly comprises: twelve pairs of shielding plates with the same structure and twelve pairs of shielding hydraulic push rods with the same structure;
twelve pairs of telescopic grooves with the same structure are arranged in the four pairs of T-shaped moving grooves, twelve pairs of shielding hydraulic push rods are respectively arranged in the twelve pairs of telescopic grooves, and twelve pairs of shielding plates are respectively arranged on the pushing ends of the twelve pairs of shielding hydraulic push rods.
Preferably, an infrared measurement camera is arranged at the bottom end of the movable bottom plate.
Preferably, a plurality of anti-collision cushions are arranged on the movable bottom plate and the two pairs of movable bottom boxes.
Preferably, a plurality of telescopic spring columns with the same structure are arranged on the two pairs of movable bottom boxes, and the other ends of the plurality of telescopic spring columns are respectively connected to the rotating boxes.
Preferably, the driving assembly includes: the four pairs of telescopic driving machines with the same structure, four pairs of driving bevel gears with the same structure, four pairs of transmission bevel gears with the same structure, a plurality of moving rods with the same structure, four pairs of moving blocks with the same structure and four pairs of telescopic hydraulic push rods with the same structure;
the movable rods are respectively arranged on the two pairs of movable bottom boxes, the four pairs of movable blocks are respectively sleeved on the plurality of movable rods, the four pairs of telescopic driving machines are arranged on the four pairs of movable blocks, the four pairs of driving bevel gears are respectively arranged on the four pairs of driving ends of the telescopic driving machines, the four pairs of driving bevel gears are respectively arranged on the four pairs of movable shafts, the four pairs of driving bevel gears are respectively meshed with the four pairs of driving bevel gears, the four pairs of telescopic hydraulic push rods are respectively arranged in the two pairs of movable bottom boxes, and the four pairs of pushing ends of the telescopic hydraulic push rods are respectively connected to the four pairs of movable blocks.
Preferably, grooves are formed in the six pairs of moving shafts.
According to the mobile chassis for the industrial robot, which is manufactured by the technical scheme of the invention, the position of the bearing moving block is changed through the adjustable mobile structure, so that the shape of the mobile crawler belt is changed, the mobile crawler belt can meet the requirement that the device climbs on different slopes, meanwhile, the vibration in the moving process is converted into force in other forms through the damping structure, the device can move horizontally and stably better, and meanwhile, the horizontal moving direction is changed through the rotating structure.
Drawings
Fig. 1 is a schematic front view of a trapezoidal cross-sectional view of a mobile chassis for an industrial robot according to the present invention.
Fig. 2 is a schematic side cross-sectional view of a mobile chassis for an industrial robot according to the present invention.
Fig. 3 is a schematic top cross-sectional view of a mobile chassis for an industrial robot according to the present invention.
Fig. 4 is a schematic trapezoidal sectional view of an adjustable moving structure of a moving chassis for an industrial robot according to the present invention.
Fig. 5 is a schematic view of an adjustable moving structure of a moving chassis for an industrial robot according to the present invention.
In the figure: 1-moving the bottom plate; 2-moving the bottom box; 3-horizontal displacement hydraulic push rod; 4-vertical displacement hydraulic push rod; 5-a bearing moving block; 6-a moving axis; 7-moving wheels; 8, moving the crawler; 9-T type moving groove; 10-a cylindrical stationary shaft; 11-shock absorbing spring posts; 12-a damping spring; 13-a telescopic rod; 14-connecting column; 15-rotating the box; 16-rotating the hydraulic push rod; 17-rotating the clamping strip; 18-a rotating gear; 19-an angle adjustment shaft; 20-a shutter; 21-shielding hydraulic push rod 22-telescopic groove; 23-a telescopic spring post; 24-a telescopic driver; 25-driving the bevel gear; 26-a drive bevel gear; 27-a moving bar; 28-a moving block; 29-telescopic hydraulic push rod.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings, as shown in fig. 1 to 5, a mobile chassis for an industrial robot, comprising: the device comprises a movable bottom plate 1, wherein a rotating structure is arranged on the movable bottom plate 1, a damping structure is arranged on the rotating structure, and an adjustable movable structure is arranged on the damping structure; the adjustable moving structure comprises: the device comprises two pairs of moving bottom boxes 2 with the same structure, four pairs of horizontal displacement hydraulic push rods 3 with the same structure, two pairs of vertical displacement hydraulic push rods 4 with the same structure, twelve pairs of bearing moving blocks 5 with the same structure, six pairs of moving shafts 6 with the same structure, twelve pairs of moving wheels 7 with the same structure, four pairs of moving tracks 8 with the same structure, a driving component and an auxiliary fixing component; the two pairs of movable bottom boxes 2 are arranged on a damping structure, four pairs of T-shaped moving grooves 9 with the same structure are respectively formed in the two pairs of movable bottom boxes 2, twelve pairs of bearing moving blocks 5 are respectively and movably arranged in the four pairs of T-shaped moving grooves 9, six pairs of movable shafts 6 are respectively inserted into the twelve pairs of bearing moving blocks 5, twelve pairs of movable wheels 7 are respectively arranged on the six pairs of movable shafts 6, four pairs of movable tracks 8 are respectively arranged on the six pairs of movable shafts 6, four pairs of horizontal displacement hydraulic push rods 3 and two pairs of vertical displacement hydraulic push rods 4 are arranged in the movable bottom boxes 2, and the auxiliary fixing components are arranged at the pushing ends of the four pairs of horizontal displacement hydraulic push rods 3 and the two pairs of vertical displacement hydraulic push rods 4; the shock-absorbing structure includes: the device comprises two pairs of cylindrical fixed shafts 10 with the same structure, four pairs of damping spring columns 11 with the same structure, two pairs of damping springs 12 with the same structure, four pairs of telescopic rods 13 with the same structure and four pairs of connecting columns 14 with the same structure; the two pairs of cylindrical fixed shafts 10 are respectively connected to the two pairs of movable bottom boxes 2, four pairs of damping spring columns 11 are respectively installed on the two pairs of cylindrical fixed shafts 10, the other ends of the four pairs of damping spring columns 11 are connected to a rotating structure, the two pairs of damping springs 12 are movably sleeved on the two pairs of cylindrical fixed shafts 10, four pairs of connecting columns 14 are respectively installed on the two pairs of damping springs 12, the other ends of the four pairs of connecting columns 14 are connected to the rotating structure, four pairs of telescopic rods 13 are respectively installed on the two pairs of cylindrical fixed shafts 10, and the other ends of the four pairs of telescopic rods 13 are connected to the rotating structure; the rotating structure comprises: a pair of rotating boxes 15 with the same structure, a pair of rotating hydraulic push rods 16 with the same structure, a pair of rotating clamping strips 17 with the same structure, a pair of rotating gears 18 with the same structure and a pair of angle adjusting shafts 19 with the same structure; the pair of angle adjusting shafts 19 are movably inserted into the pair of rotating boxes 15 through bearings, the pair of angle adjusting shafts 19 are mounted on the moving base plate 1, the pair of rotating gears 18 are respectively mounted on the pair of angle adjusting shafts 19, the pair of rotating hydraulic push rods 16 are respectively mounted in the pair of rotating boxes 15, the pair of rotating clamping strips 17 are respectively mounted on pushing ends of the pair of rotating hydraulic push rods 16, and the pair of rotating clamping strips 17 are respectively engaged with the pair of rotating gears 18 through gears; a plurality of auxiliary sliding blocks with the same structure are arranged on the pair of rotating boxes 15, and a pair of auxiliary sliding ways with the same structure are arranged on the bottom end of the moving bottom plate 1; the auxiliary fixing component comprises: twelve pairs of shielding plates 20 with the same structure and twelve pairs of shielding hydraulic push rods 21 with the same structure; twelve pairs of telescopic grooves 22 with the same structure are arranged in the four pairs of T-shaped moving grooves 9, twelve pairs of shielding hydraulic push rods 21 are respectively arranged in the twelve pairs of telescopic grooves 22, and twelve pairs of shielding plates 20 are respectively arranged on pushing ends of the twelve pairs of shielding hydraulic push rods 21; an infrared measuring camera is arranged at the bottom end of the movable bottom plate 1; a plurality of anti-collision pads are arranged on the movable bottom plate 1 and the two pairs of movable bottom boxes 2; a plurality of telescopic spring columns 23 with the same structure are arranged on the two pairs of movable bottom boxes 2, and the other ends of the plurality of telescopic spring columns 23 are respectively connected to the rotating boxes 15; the driving assembly includes: four pairs of telescopic driving machines 24 with the same structure, four pairs of driving bevel gears 25 with the same structure, four pairs of transmission bevel gears 26 with the same structure, a plurality of moving rods 27 with the same structure, four pairs of moving blocks 28 with the same structure and four pairs of telescopic hydraulic push rods 29 with the same structure; the plurality of moving rods 27 are respectively installed on the two pairs of moving bottom boxes 2, four pairs of moving blocks 28 are respectively sleeved on the plurality of moving rods 27, four pairs of telescopic driving machines 24 are installed on the four pairs of moving blocks 28, four pairs of driving bevel gears 25 are respectively installed on driving ends of the four pairs of telescopic driving machines 24, four pairs of driving bevel gears 26 are respectively installed on the four pairs of moving shafts 6, the four pairs of driving bevel gears 26 are respectively engaged with the four pairs of driving bevel gears 25, four pairs of telescopic hydraulic push rods 29 are respectively installed in the two pairs of moving bottom boxes 2, and pushing ends of the four pairs of telescopic hydraulic push rods 29 are respectively connected to the four pairs of moving blocks 28; grooves are formed in the six pairs of the moving shafts 6.
The present embodiment is characterized by comprising: the movable bottom plate is provided with a rotating structure, the rotating structure is provided with a damping structure, and the damping structure is provided with an adjustable movable structure; the adjustable moving structure comprises: the device comprises two pairs of moving bottom boxes with the same structure, four pairs of horizontal displacement hydraulic push rods with the same structure, two pairs of vertical displacement hydraulic push rods with the same structure, twelve pairs of bearing moving blocks with the same structure, six pairs of moving shafts with the same structure, twelve pairs of moving wheels with the same structure, four pairs of moving tracks with the same structure, a driving component and an auxiliary fixing component; two pairs of movable bottom boxes are arranged on a damping structure, four pairs of T-shaped moving grooves with the same structure are respectively formed in the two pairs of movable bottom boxes, twelve pairs of bearing moving blocks are respectively and movably arranged in the four pairs of T-shaped moving grooves, six pairs of moving shafts are respectively inserted into the twelve pairs of bearing moving blocks, twelve moving wheels are respectively arranged on the six pairs of moving shafts, four pairs of movable tracks are respectively arranged on the six pairs of moving shafts, four pairs of horizontal displacement hydraulic push rods and two pairs of vertical displacement hydraulic push rods are arranged in the movable bottom boxes, and auxiliary fixing components are conveniently arranged on pushing ends of the four pairs of horizontal displacement hydraulic push rods and the two pairs of vertical displacement hydraulic push rods; through adjustable removal structure, change the position of bearing movable block for remove the track shape and change, make and remove the track and can satisfy the device and carry out the climbing at different ramps, will remove the vibrations of in-process simultaneously and convert the power of other forms into through shock-absorbing structure, make the horizontal stable removal that the device can be better, change the horizontal migration direction through rotating-structure simultaneously.
All the electrical components in the present application are connected with the power supply adapted to the electrical components through the wires, and an appropriate controller should be selected according to actual conditions to meet the control requirements, and specific connection and control sequences should be obtained.
Example (b): the four pairs of telescopic driving machines 24 are operated to respectively drive the driving bevel gears 25 on the driving ends of the three pairs of telescopic driving machines 24 to rotate, the four pairs of driving bevel gears 25 are respectively used for driving the transmission bevel gears 26 engaged with the gears to rotate, the four pairs of transmission bevel gears 26 are used for driving the four pairs of moving shafts 6 on the four pairs of driving bevel gears to rotate, the four pairs of moving wheels 6 on the four pairs of driving bevel gears are driven to rotate, the eight pairs of moving wheels 7 are conveniently driven to rotate by the four pairs of moving wheels 7, so that the four pairs of moving tracks 8 are used for driving the two pairs of moving bottom boxes 2 to move, the twelve pairs of shielding plate hydraulic push rods 21 are extended and contracted from the twelve pairs of shielding plates 20 on the pushing ends of the twelve pairs of shielding plate hydraulic push rods 21 in the twelve pairs of telescopic grooves 22, the twelve pairs of moving blocks 5 can move in the T-shaped moving grooves 9, the four pairs of horizontal displacement hydraulic push rods 3 are contracted, and the two pairs of vertical displacement hydraulic push rods 4 are extended and operated, thereby form four pairs of equal side triangles with twelve pairs of movable blocks of rotation 5, thereby reach and make things convenient for two pairs of removal under casings 2 to climb, produce two pairs of removal under operating condition simultaneously and rock the transmission on two pairs of cylinder fixed axles 10, will shake the transmission through two pairs of cylinder fixed axles 10 and give four pairs of damping spring post 11 and four pairs of spliced poles 14, will shake the transmission through four pairs of spliced poles 14 and give on two pairs of damping spring 12, through making on four pairs of damping spring post 11 and two pairs of damping spring 12, utilize the mechanical part that elasticity comes work through the spring. The part made of elastic materials deforms under the action of external force, and recovers to the original state after the external force is removed, the shaking generated by the shaking is consumed into the horizontal moving force of the connecting column 14 on the cylindrical fixed shaft 10, meanwhile, the residual shaking force is consumed through the four pairs of damping spring columns 11 and the two pairs of damping springs 12, so that the moving bottom plate 1 is always in a balanced state, meanwhile, a pair of rotating clamping strips 17 on the pushing end are respectively pushed to extend through a pair of rotating hydraulic push rods 16, the pair of rotating clamping strips 17 respectively drive the pair of rotating gears 18 to rotate and drive the pair of angle adjusting shafts 19 on the rotating gears 18, and the moving angle of the moving bottom plate 1 in the horizontal direction is changed.
Preferably, the shock absorbing structure further comprises: the device comprises two pairs of cylindrical fixed shafts 10 with the same structure, four pairs of damping spring columns 11 with the same structure, two pairs of damping springs 12 with the same structure, four pairs of telescopic rods 13 with the same structure and four pairs of connecting columns 14 with the same structure;
the two pairs of the cylinder fixing shafts 10 are respectively connected to the two pairs of the movable bottom boxes 2, the four pairs of the damping spring columns 11 are respectively installed on the two pairs of the cylinder fixing shafts 10, the other ends of the damping spring columns 11 are connected to the rotating structure, the two pairs of the damping springs 12 are movably sleeved on the two pairs of the cylinder fixing shafts 10, the four pairs of the connecting columns 14 are respectively installed on the two pairs of the damping springs 12, the other ends of the connecting columns 14 are connected to the rotating structure, the four pairs of the telescopic rods 13 are respectively installed on the two pairs of the cylinder fixing shafts 10, and the other ends of the telescopic rods 13 are connected to the rotating structure.
Preferably, the rotating structure further comprises: a pair of rotating boxes 15 with the same structure, a pair of rotating hydraulic push rods 16 with the same structure, a pair of rotating clamping strips 17 with the same structure, a pair of rotating gears 18 with the same structure and a pair of angle adjusting shafts 19 with the same structure;
the pair of angle adjusting shafts 19 are movably inserted into the pair of rotating boxes 15 through bearings, the pair of angle adjusting shafts 19 are mounted on the moving base plate 1, the pair of rotating gears 18 are mounted on the pair of angle adjusting shafts 19 respectively, the pair of rotating hydraulic push rods 16 are mounted in the pair of rotating boxes 15 respectively, the pair of rotating clamping strips 17 are mounted on pushing ends of the pair of rotating hydraulic push rods 16 respectively, and the pair of rotating clamping strips 17 are in gear engagement with the pair of rotating gears 18 respectively.
Preferably, a plurality of auxiliary sliding blocks with the same structure are arranged on the pair of rotating boxes 15, and a pair of auxiliary sliding ways with the same structure is arranged at the bottom end of the moving bottom plate 1.
Preferably, the auxiliary fixing assembly further comprises: twelve pairs of shielding plates 20 with the same structure and twelve pairs of shielding hydraulic push rods 21 with the same structure;
twelve pairs of telescopic grooves 22 with the same structure are arranged in the four pairs of T-shaped moving grooves 9, twelve pairs of shielding hydraulic push rods 21 are respectively arranged in the twelve pairs of telescopic grooves 22, and twelve pairs of shielding plates 20 are respectively arranged at the pushing ends of the twelve pairs of shielding hydraulic push rods 21.
Preferably, an infrared measurement camera is further disposed on the bottom end of the movable base plate 1.
Preferably, a plurality of crash pads are disposed on the movable bottom plate 1 and the two pairs of movable bottom boxes 2.
Preferably, a plurality of telescopic spring columns 23 with the same structure are arranged on the two pairs of movable bottom boxes 2, and the other ends of the plurality of telescopic spring columns 23 are respectively connected to the rotating boxes 15.
Preferably, the driving assembly further comprises: four pairs of telescopic driving machines 24 with the same structure, four pairs of driving bevel gears 25 with the same structure, four pairs of transmission bevel gears 26 with the same structure, a plurality of moving rods 27 with the same structure, four pairs of moving blocks 28 with the same structure and four pairs of telescopic hydraulic push rods 29 with the same structure;
the movable rods 27 are respectively installed on the two pairs of movable bottom boxes 2, four pairs of movable blocks 28 are respectively sleeved on the plurality of movable rods 27, four pairs of telescopic driving machines 24 are installed on the four pairs of movable blocks 28, four pairs of driving bevel gears 25 are respectively installed on driving ends of the four pairs of telescopic driving machines 24, four pairs of driving bevel gears 26 are respectively installed on the four pairs of movable shafts 6, the four pairs of driving bevel gears 26 are respectively engaged with the four pairs of driving bevel gears 25, four pairs of telescopic hydraulic push rods 29 are respectively installed in the two pairs of movable bottom boxes 2, and pushing ends of the four pairs of telescopic hydraulic push rods 29 are respectively connected to the four pairs of movable blocks 28.
Preferably, a groove is formed in each of the six pairs of moving shafts 6.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.
Claims (9)
1. A mobile chassis for an industrial robot, comprising: the movable bottom plate (1) is characterized in that a rotating structure is mounted on the movable bottom plate (1), a damping structure is mounted on the rotating structure, and an adjustable movable structure is mounted on the damping structure;
the adjustable moving structure comprises: the device comprises two pairs of moving bottom boxes (2) with the same structure, four pairs of horizontal displacement hydraulic push rods (3) with the same structure, two pairs of vertical displacement hydraulic push rods (4) with the same structure, twelve pairs of bearing moving blocks (5) with the same structure, six pairs of moving shafts (6) with the same structure, twelve pairs of moving wheels (7) with the same structure, four pairs of moving tracks (8) with the same structure, a driving assembly and an auxiliary fixing assembly;
two pairs of the movable bottom boxes (2) are arranged on a damping structure, four pairs of T-shaped movable grooves (9) with the same structure are respectively formed in the two pairs of the movable bottom boxes (2), twelve pairs of the bearing movable blocks (5) are respectively and movably arranged in the four pairs of the T-shaped movable grooves (9), six pairs of the movable shafts (6) are respectively inserted on the twelve pairs of the bearing movable blocks (5), twelve pairs of the movable wheels (7) are respectively arranged on the six pairs of the movable shafts (6), four pairs of the movable tracks (8) are respectively arranged on the six pairs of the movable shafts (6), four pairs of the horizontal displacement hydraulic push rods (3) and two pairs of the vertical displacement hydraulic push rods (4) are arranged in the movable bottom boxes (2), the auxiliary fixing components are arranged on pushing ends of four pairs of horizontal displacement hydraulic push rods (3) and two pairs of vertical displacement hydraulic push rods (4);
the shock-absorbing structure includes: the device comprises two pairs of cylindrical fixed shafts (10) with the same structure, four pairs of damping spring columns (11) with the same structure, two pairs of damping springs (12) with the same structure, four pairs of telescopic rods (13) with the same structure and four pairs of connecting columns (14) with the same structure;
the damping spring fixing device comprises two pairs of cylinder fixing shafts (10), four pairs of damping spring columns (11), four pairs of damping spring columns (14), four pairs of telescopic rods (13), and four pairs of telescopic rods (13), wherein the two pairs of damping spring columns (11) are respectively connected to the two pairs of moving bottom boxes (2), the four pairs of damping spring columns (11) are respectively installed on the two pairs of cylinder fixing shafts (10), the other ends of the damping spring columns (11) are connected to a rotating structure, and the four pairs of damping spring columns (12) are movably sleeved on the two pairs of cylinder fixing shafts (10).
2. The mobile chassis for an industrial robot according to claim 1, wherein the rotation structure comprises: a pair of rotating boxes (15) with the same structure, a pair of rotating hydraulic push rods (16) with the same structure, a pair of rotating clamping strips (17) with the same structure, a pair of rotating gears (18) with the same structure and a pair of angle adjusting shafts (19) with the same structure;
the pair of angle adjusting shafts (19) are movably inserted into the pair of rotating boxes (15) through bearings, the pair of angle adjusting shafts (19) are installed on the moving base plate (1), the pair of rotating gears (18) are installed on the pair of angle adjusting shafts (19) respectively, the pair of rotating hydraulic push rods (16) are installed in the pair of rotating boxes (15) respectively, the pair of rotating clamping strips (17) are installed on pushing ends of the pair of rotating hydraulic push rods (16) respectively, and the pair of rotating clamping strips (17) are meshed with the pair of rotating gears (18) respectively.
3. The moving chassis for the industrial robot as claimed in claim 2, wherein a plurality of auxiliary sliding blocks with the same structure are arranged on the pair of rotating boxes (15), and a pair of auxiliary sliding ways with the same structure are arranged on the bottom end of the moving bottom plate (1).
4. The mobile chassis for an industrial robot as claimed in claim 1, wherein the auxiliary fixing unit comprises: twelve pairs of shielding plates (20) with the same structure and twelve pairs of shielding hydraulic push rods (21) with the same structure;
twelve pairs of telescopic grooves (22) with the same structure are arranged in the four pairs of T-shaped moving grooves (9), twelve pairs of shielding hydraulic push rods (21) are respectively arranged in the twelve pairs of telescopic grooves (22), and twelve pairs of shielding plates (20) are respectively arranged on the pushing ends of the twelve pairs of shielding hydraulic push rods (21).
5. The mobile chassis for industrial robots, according to claim 1, characterized in that on the bottom end of the mobile base plate (1) an infrared measuring camera is arranged.
6. A moving chassis for an industrial robot according to claim 1, characterized in that several crash pads are arranged on the moving floor (1) and on both pairs of moving floor boxes (2).
7. The mobile chassis for the industrial robot as claimed in claim 2, wherein a plurality of telescopic spring columns (23) with the same structure are arranged on the two pairs of mobile bottom boxes (2), and the other ends of the plurality of telescopic spring columns (23) are respectively connected to the rotating boxes (15).
8. The mobile chassis for an industrial robot according to claim 1, wherein the driving assembly comprises: four pairs of telescopic driving machines (24) with the same structure, four pairs of driving bevel gears (25) with the same structure, four pairs of transmission bevel gears (26) with the same structure, a plurality of moving rods (27) with the same structure, four pairs of moving blocks (28) with the same structure and four pairs of telescopic hydraulic push rods (29) with the same structure;
the movable rods (27) are respectively installed on the two pairs of movable bottom boxes (2), four pairs of movable blocks (28) are respectively sleeved on the movable rods (27), four pairs of telescopic driving machines (24) are installed on the four pairs of movable blocks (28), four pairs of driving bevel gears (25) are respectively installed on the four pairs of driving ends of the telescopic driving machines (24), four pairs of transmission bevel gears (26) are respectively installed on the four pairs of movable shafts (6), the four pairs of transmission bevel gears (26) are respectively engaged with the four pairs of driving bevel gears (25), four pairs of telescopic hydraulic push rods (29) are respectively installed in the two pairs of movable bottom boxes (2), and the four pairs of pushing ends of the telescopic hydraulic push rods (29) are respectively connected to the four pairs of movable blocks (28).
9. The mobile chassis for industrial robots, according to claim 1, characterized in that grooves are made in six pairs of mobile shafts (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010502673.2A CN111634340B (en) | 2020-06-05 | 2020-06-05 | Mobile chassis for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010502673.2A CN111634340B (en) | 2020-06-05 | 2020-06-05 | Mobile chassis for industrial robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111634340A CN111634340A (en) | 2020-09-08 |
| CN111634340B true CN111634340B (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010502673.2A Expired - Fee Related CN111634340B (en) | 2020-06-05 | 2020-06-05 | Mobile chassis for industrial robot |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106149860A (en) * | 2016-06-23 | 2016-11-23 | 安庆市蒲公英水电安装工程有限公司 | A kind of Municipal footpath irrigation canals and ditches upkeep operations robot |
| CN106240663A (en) * | 2016-08-30 | 2016-12-21 | 曹昂 | The full landform of omnidirectional six takes turns creeper truck |
| CN106275117A (en) * | 2016-09-22 | 2017-01-04 | 潘春燕 | A kind of portable civilian directional blasting intelligent robot |
| CN209904613U (en) * | 2019-04-02 | 2020-01-07 | 上海宝冶集团南京建筑有限公司 | Multipurpose machinery transport vechicle |
Family Cites Families (1)
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| US9616950B2 (en) * | 2015-06-30 | 2017-04-11 | Cnh Industrial America Llc | Variable geometry continuous track |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106149860A (en) * | 2016-06-23 | 2016-11-23 | 安庆市蒲公英水电安装工程有限公司 | A kind of Municipal footpath irrigation canals and ditches upkeep operations robot |
| CN106240663A (en) * | 2016-08-30 | 2016-12-21 | 曹昂 | The full landform of omnidirectional six takes turns creeper truck |
| CN106275117A (en) * | 2016-09-22 | 2017-01-04 | 潘春燕 | A kind of portable civilian directional blasting intelligent robot |
| CN209904613U (en) * | 2019-04-02 | 2020-01-07 | 上海宝冶集团南京建筑有限公司 | Multipurpose machinery transport vechicle |
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