CN111890339A

CN111890339A - Adjustable moving support device for industrial robot

Info

Publication number: CN111890339A
Application number: CN202010816930.XA
Authority: CN
Inventors: 吴佳慧
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-11-06

Abstract

The invention discloses an adjustable mobile supporting device for an industrial robot, which relates to the technical field of industrial robots and comprises a supporting frame, wherein a motor I is fixed in a bounding wall, an output shaft of the motor I is in driving connection with a steering mechanism, the steering mechanism is in driving connection with a turntable, and a clamping and locking mechanism for clamping the industrial robot is arranged on the turntable; according to the invention, the transmission mechanism can be driven through the vertical lifting adjusting mechanism, so that the transmission mechanism drives the universal wheel to realize rotation adjustment relative to the support frame, the universal wheel is in contact with the ground after extending out of the support frame, the device is convenient for flexibly moving the position of the industrial robot, the support frame is in contact with the ground after the universal wheel is retracted into the support frame, stable support for the industrial robot is achieved, the clamping and locking mechanism can be adjusted adaptively according to the size of the industrial robot, and the stable and firm clamping effect of the industrial robot is ensured.

Description

Adjustable moving support device for industrial robot

Technical Field

The invention relates to the technical field of industrial robots, in particular to an adjustable movable supporting device for an industrial robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field, have a certain degree of automation, and can realize various industrial processing and manufacturing functions depending on the power energy and control capability of the industrial robots. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.

The patent of grant bulletin No. CN106112969B discloses an industrial robot base, including groined type base, groined type base by four steel pipe intercrossing welding together, two the last fixed surface of steel pipe intersection be connected with the bracing piece, bracing piece and steel pipe between fixedly connected with stiffener, the top fixedly connected with robot supporting seat of bracing piece, robot supporting seat and steel pipe between be provided with the chevron shape reinforcement frame. The outer side of the supporting rod is fixedly connected with an elastic rod, and the tail end of the elastic rod is fixedly connected with an elastic buffer ring. Two adjacent the end fixedly connected with double-end pneumatic cylinder of steel pipe the telescopic shaft of double-end pneumatic cylinder on be provided with the support pneumatic cylinder. Although the device can support the industrial robot, the stability and flexibility of the supporting process are poor, and the actual use requirement cannot be met.

Disclosure of Invention

The present invention is directed to an adjustable mobile support device for an industrial robot, which solves the above-mentioned problems of the prior art.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a remove strutting arrangement with adjustable be used for industrial robot, includes the support frame, is fixed with the bounding wall on the support frame, and the fixed plate internal fixation has the fixed plate, the bounding wall bottom is fixed with motor II, and the last drive of motor II is connected with vertical lift adjustment mechanism, install the universal wheel through drive mechanism on the vertical lift adjustment mechanism, be equipped with elasticity locking mechanism between drive mechanism and the support frame, the bounding wall internal fixation has motor I, and motor I's output shaft drive is connected with steering mechanism, the steering mechanism drive is connected with the carousel, is equipped with on the carousel to be used for the centre gripping locking mechanism to the industrial robot centre gripping.

As a modified scheme of the invention: the vertical lifting adjusting mechanism comprises a driving bevel gear driven by a motor II to rotate, a driven bevel gear is connected to the driving bevel gear in a meshed mode, a threaded column rotatably installed at the bottom of the enclosing plate is connected to the driven bevel gear in a driving mode, and a threaded sleeve is sleeved on the threaded column in a threaded mode.

As a modified scheme of the invention: the transmission mechanism comprises two symmetrically-arranged extension plates fixed on the side wall of the threaded sleeve, a connecting rod is hinged to each extension plate, a folding rod is hinged to the side wall of the support frame, and the upper end of the folding rod is hinged to the connecting rod.

As a modified scheme of the invention: the lower end of the folding rod is slidably sleeved with a sleeve, a damping spring is fixedly connected between the sleeve and the folding rod, and the universal wheel is rotatably installed at the top of the sleeve.

As a modified scheme of the invention: the elastic locking mechanism comprises an inserting column fixed on the folding rod, a slot matched with the inserting column is formed in the supporting frame, a supporting column is slidably mounted in the slot, an arc slot matched with the supporting column is formed in the side wall of the inserting column, and a supporting and pushing spring is fixed between the supporting column and the surrounding plate.

As a modified scheme of the invention: the steering mechanism comprises a rotating shaft coaxially fixed with the turntable, a worm wheel is fixedly sleeved on the rotating shaft, and a worm driven by a motor I is connected to the worm wheel in a meshed mode.

As a modified scheme of the invention: the clamping and locking mechanism comprises a plurality of pull rods which are eccentrically hinged on the rotary table and are evenly arranged, one end, away from the rotary table, of each pull rod is hinged with a sliding block, a sliding groove for the sliding embedding of the sliding block is formed in the fixing plate, the sliding groove is formed in the radial direction of the rotary table, and the sliding block is fixedly penetrated through the sliding groove.

As a modified scheme of the invention: the clamping and locking mechanism further comprises a guide rod of the fixing plate, and a spring ring with two ends fixed with the sliding block and the fixing plate respectively is sleeved on the guide rod.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the transmission mechanism can be driven through the vertical lifting adjusting mechanism, so that the transmission mechanism drives the universal wheel to realize rotation adjustment relative to the support frame, the universal wheel is in contact with the ground after extending out of the support frame, the device is convenient for flexibly moving the position of the industrial robot, the support frame is in contact with the ground after the universal wheel is retracted into the support frame, stable support for the industrial robot is achieved, the clamping and locking mechanism can be adjusted adaptively according to the size of the industrial robot, and the stable and firm clamping effect of the industrial robot is ensured.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a bottom view of the invention of FIG. 1;

FIG. 3 is a schematic top view of a portion of the structure of FIG. 1 in accordance with the present invention;

FIG. 4 is an enlarged view of a portion A of FIG. 1;

fig. 5 is a partial perspective view of the present invention.

In the figure: 1-coaming plate, 2-supporting frame, 3-driven bevel gear, 4-extending plate, 5-threaded sleeve, 6-threaded column, 7-connecting rod, 8-driving bevel gear, 9-worm, 10-worm gear, 11-rotating shaft, 12-motor I, 13-clamping plate, 14-sliding block, 15-guide rod, 16-spring ring, 17-sliding groove, 18-pull rod, 19-rotating disc, 20-fixing plate, 21-sleeve, 22-folding rod, 23-motor II, 24-arc groove, 25-slot, 26-abutting column, 27-abutting spring, 28-inserting column, 29-damping spring and 30-universal wheel.

Detailed Description

The technical scheme of the patent is further described in detail by combining the following specific embodiments:

example 1

Please refer to fig. 1-5, an adjustable mobile supporting device for an industrial robot includes a supporting frame 2, a surrounding plate 1 is fixed on the supporting frame 2, a fixing plate 20 is fixed in the fixing plate 20, a motor II23 is fixed at the bottom of the surrounding plate 1, a vertical lifting adjusting mechanism is connected to the motor II23 in a driving manner, a universal wheel 30 is installed on the vertical lifting adjusting mechanism through a transmission mechanism, an elastic locking mechanism is arranged between the transmission mechanism and the supporting frame 2, a motor I12 is fixed in the surrounding plate 1, an output shaft of the motor I12 is connected to a steering mechanism in a driving manner, the steering mechanism is connected to a rotating disc 19 in a driving manner, and a clamping and locking mechanism for clamping the industrial robot is arranged on the rotating disc 19.

The vertical lifting adjusting mechanism comprises a driving bevel gear 8 driven to rotate by a motor II23, a driven bevel gear 3 is meshed with the driving bevel gear 8, a threaded column 6 installed at the bottom of a surrounding plate 1 is driven to be connected with the driven bevel gear 3 in a rotating mode, and a threaded sleeve 5 is sleeved on the threaded column 6 in a threaded mode.

The motor II23 is used for driving the driving bevel gear 8 to rotate, the driving bevel gear 8 drives the driven bevel gear 3 engaged with the driving bevel gear to rotate, at the moment, the threaded column 6 rotates, and the threaded column 6 drives the threaded sleeve 5 on the threaded column to vertically lift and adjust.

Further, drive mechanism is including fixing extension board 4 that two symmetries of 5 lateral walls of threaded sleeve set up, and it has connecting rod 7 to articulate on extension board 4, 2 lateral walls of support frame articulate there is a folding rod 22, and folding rod 22 upper end is articulated with connecting rod 7, and folding rod 22 lower extreme slip cap is equipped with sleeve 21, fixedly connected with damping spring 29 between sleeve 21 and the folding rod 22, and universal wheel 30 rotates and installs at the sleeve 21 top.

At the vertical lift adjustment's of threaded sleeve 5 in-process, threaded sleeve 5 drives the 4 vertical lifts of extension board, extension board 4 drives through the connecting rod 7 that sets up and rolls over the pole 22 and rotate, roll over the pole 22 this moment and drive sleeve 21 and rotate together with universal wheel 30, universal wheel 30 stretches out and realizes and ground contact behind the support frame 2, make things convenient for this device to move in a flexible way industrial robot's position, and when universal wheel 30 withdraws 2 inside backs of support frame, support frame 2 and ground contact play the steady support to industrial robot. The sleeve 21 that sets up can drive universal wheel 30 and roll over the relative pole 22 slip, and damping spring 29 elastic deformation plays fine elastic support and shock attenuation effect, and industrial robot removes the stability of process better.

Example 2

On the basis of the embodiment 1, in addition, the elastic locking mechanism of the device includes an inserting column 28 fixed on the folding rod 22, a slot 25 adapted to the inserting column 28 is formed in the support frame 2, a resisting column 26 is slidably mounted in the slot 25, an arc slot 24 adapted to the resisting column 26 is formed in the side wall of the inserting column 28, and a resisting and pushing spring 27 is fixed between the resisting column 26 and the surrounding plate 1.

Through the arrangement, when the folding rod 22 rotates to the vertical position, the inserting column 28 is inserted into the slot 25, and the abutting column 26 arranged in the slot 25 is clamped with the arc groove 24 under the elastic abutting action of the abutting spring 27, so that the elastic locking of the folding rod 22 is realized, and the stability and firmness of the moving process are ensured.

The steering mechanism of the device comprises a rotating shaft 11 coaxially fixed with a turntable 19, a worm wheel 10 is fixedly sleeved on the rotating shaft 11, and a worm 9 driven by a motor I12 is connected to the worm wheel 10 in a meshed mode. The motor I12 can drive the worm 9 to rotate, the worm 9 drives the worm wheel 10 to rotate, at this time, the worm wheel 10 drives the rotating shaft 11 to rotate, at this time, the rotating shaft 11 drives the turntable 19 to rotate.

The clamping and locking mechanism of the device comprises a plurality of pull rods 18 which are eccentrically hinged on a rotary table 19 and are evenly arranged, one end, away from the rotary table 19, of each pull rod 18 is hinged with a sliding block 14, a sliding groove 17 for the sliding embedding of the sliding block 14 is formed in a fixing plate 20, the sliding groove 17 is formed in the radial direction of the rotary table 19, and the sliding block 14 is fixedly provided with a sliding through hole. The clamping and locking mechanism further comprises a guide rod 15 of the fixing plate 20, and a spring ring 16 with two ends fixed with the sliding block 14 and the fixing plate 20 is sleeved on the guide rod 15.

An industrial robot is arranged on a fixing plate 20 in the enclosing plate 1, the plurality of pull rods 18 are driven to deflect through rotation of the rotary table 19, the pull rods 18 drive the sliding block 14 to radially slide along the sliding groove 17, at the moment, under the elastic action of the spring ring 16, the sliding block 14 drives the guide rod 15 to transversely move, and then the sliding block 14 drives the clamping plate 13 to firmly lock and fix the industrial robot.

In conclusion, the transmission mechanism can be driven through the arranged vertical lifting adjusting mechanism, so that the transmission mechanism drives the universal wheel 30 to realize rotation adjustment relative to the support frame 2, the universal wheel 30 is contacted with the ground after extending out of the support frame 2, the device is convenient to flexibly move the position of the industrial robot, when the universal wheel 30 is retracted into the support frame 2, the support frame 2 is contacted with the ground, stable support for the industrial robot is achieved, the arranged clamping and locking mechanism can be adjusted adaptively according to the size of the industrial robot, and the stable and firm clamping effect of the industrial robot is ensured.

It should be noted that, although the present specification describes embodiments, each embodiment does not include only a single technical solution, and such description of the specification is only for clarity, and those skilled in the art should take the specification as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art, and the above-mentioned embodiments only express the preferred embodiments of the technical solutions, and the description thereof is more specific and detailed, but should not be construed as limiting the scope of the claims of the technical solutions. It should be noted that, for those skilled in the art, various changes, modifications and substitutions can be made without departing from the spirit of the present invention, and these changes and substitutions belong to the protection scope of the present invention. The protection scope of this technical solution patent should be subject to the appended claims.

Claims

1. The utility model provides a remove strutting arrangement with adjustable be used for industrial robot, includes support frame (2), is fixed with bounding wall (1) on support frame (2), and fixed plate (20) internal fixation has fixed plate (20), its characterized in that, bounding wall (1) bottom is fixed with motor II (23), and the drive is connected with vertical lift adjustment mechanism on motor II (23), install universal wheel (30) through drive mechanism on the vertical lift adjustment mechanism, be equipped with elasticity locking mechanism between drive mechanism and support frame (2), bounding wall (1) internal fixation has motor I (12), and the output shaft drive of motor I (12) is connected with steering mechanism, the steering mechanism drive is connected with carousel (19), is equipped with on carousel (19) to be used for the centre gripping locking mechanism to industrial robot centre gripping.

2. The adjustable mobile support device for the industrial robot according to claim 1, wherein the vertical lifting adjusting mechanism comprises a driving bevel gear (8) driven by a motor II (23) to rotate, a driven bevel gear (3) is connected to the driving bevel gear (8) in a meshed mode, a threaded column (6) rotatably installed at the bottom of the enclosing plate (1) is connected to the driven bevel gear (3) in a driven mode, and a threaded sleeve (5) is sleeved on the threaded column (6) in a threaded mode.

3. The adjustable movement support device for industrial robots according to claim 2 is characterized in that the transmission mechanism comprises two symmetrically arranged extension plates (4) fixed on the side wall of the threaded sleeve (5), the extension plates (4) are hinged with connecting rods (7), the side wall of the support frame (2) is hinged with folding rods (22), and the upper ends of the folding rods (22) are hinged with the connecting rods (7).

4. The adjustable movement support device for industrial robots according to claim 3 is characterized in that the lower end of the folding rod (22) is slidably sleeved with a sleeve (21), a damping spring (29) is fixedly connected between the sleeve (21) and the folding rod (22), and the universal wheel (30) is rotatably mounted on the top of the sleeve (21).

5. The adjustable movable support device for the industrial robot is characterized in that the elastic locking mechanism comprises an inserting column (28) fixed on the folding rod (22), a slot (25) matched with the inserting column (28) is formed in the support frame (2), a resisting column (26) is installed in the slot (25) in a sliding mode, an arc groove (24) matched with the resisting column (26) is formed in the side wall of the inserting column (28), and a resisting and pushing spring (27) is fixed between the resisting column (26) and the enclosing plate (1).

6. The adjustable mobile support device for industrial robots according to claim 1, characterized in that the steering mechanism comprises a rotating shaft (11) coaxially fixed with the turntable (19), a worm wheel (10) is sleeved and fixed on the rotating shaft (11), and a worm (9) driven by a motor I (12) is engaged and connected on the worm wheel (10).

7. The adjustable movable support device for the industrial robot is characterized in that the clamping and locking mechanism comprises a plurality of uniformly arranged pull rods (18) eccentrically hinged on a turntable (19), one ends of the pull rods (18) far away from the turntable (19) are hinged with sliding blocks (14), sliding grooves (17) for the sliding embedding of the sliding blocks (14) are formed in a fixed plate (20), the sliding grooves (17) are formed in the radial direction of the turntable (19), and the sliding blocks (14) are fixedly penetrated in a sliding mode.

8. The adjustable movement support device for an industrial robot according to claim 7, characterized in that the clamp-and-lock mechanism further comprises a guide rod (15) of the fixed plate (20), and a spring ring (16) fixed at both ends to the slide (14) and the fixed plate (20) is sleeved on the guide rod (15).