CN112192543A - Running gear of robot - Google Patents
Running gear of robot Download PDFInfo
- Publication number
- CN112192543A CN112192543A CN202011057179.6A CN202011057179A CN112192543A CN 112192543 A CN112192543 A CN 112192543A CN 202011057179 A CN202011057179 A CN 202011057179A CN 112192543 A CN112192543 A CN 112192543A
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- CN
- China
- Prior art keywords
- robot
- base
- bottom plate
- installation
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robot equipment, in particular to a walking mechanism of a robot, aiming at the problems of small working and application range and low working efficiency of the robot in the prior art, the walking mechanism of the robot comprises a base, an installation and adjustment bottom plate and a driving assembly, wherein the base is an H-shaped structural frame, the walking assembly is arranged in the base along the length direction of the base, the installation and adjustment bottom plate is installed on the walking assembly, the driving assembly is installed on the outer wall of one side of the base and is in transmission connection with the installation and adjustment bottom plate, and the top of the installation and adjustment bottom plate is provided with a six-axis freedom robot. The walking mechanism of the robot is reasonable and compact in structural design, safe, practical, sealed, dustproof and attractive in appearance, linear long-distance movement of the robot is realized, the working efficiency and the service cycle are effectively improved, and the application range of the robot is expanded.
Description
Technical Field
The invention relates to the field of mobile terminals, in particular to a walking mechanism of a robot.
Background
Along with the development of science and technology, the robot is increasingly widely used in the fields of warehousing, logistics, electric power inspection and the like, the field of application is also increasingly wide, but most robots in the prior art can only be installed on fixed stations to perform ordered work, so that the work and application range of the robots are small, and the work efficiency is low. Therefore, the scheme provides a walking mechanism of the robot.
Disclosure of Invention
The invention provides a walking mechanism of a robot, which solves the problems of small working and application range and low working efficiency of the robot in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a running gear of robot, includes base, installation adjusting bottom plate and drive assembly, the base is H type structure frame, the inside of base is provided with running assembly along its length direction, the installation adjusting bottom plate is installed on the running assembly, drive assembly installs on one side outer wall of base, and drive assembly and installation adjusting bottom plate transmission are connected, six degrees of freedom robots are installed at the top of installation adjusting bottom plate.
Preferably, the base comprises the removal girder that two symmetries set up and a plurality of tie-beams of fixing between two removal girders, and is parallel to each other between a plurality of tie-beams, the tie-beam constitutes the laying space rather than the removal girder of both sides, be equipped with the electric drag chain in the laying space.
Preferably, a plurality of clapboards are fixed at the bottom of the movable main beam, and a space is arranged between every two adjacent clapboards.
Preferably, the driving assembly is composed of a motor arranged on the outer wall of the base, a transmission gear fixed at one end of an output shaft of the motor and a transmission rack fixed on the adjusting bottom plate, and the transmission gear is meshed with the transmission rack.
Preferably, the walking assembly comprises linear guide rails symmetrically fixed at the tops of the two movable main beams and a plurality of sliding blocks connected to the outer portions of the two linear guide rails in a sliding mode, the plurality of sliding blocks arranged on the outer portions of the two linear guide rails are symmetrically arranged in pairs, and the plurality of sliding blocks are fixedly connected with the bottom of the installation and adjustment bottom plate through supporting seats.
Preferably, be provided with the protection component on the walking subassembly, the protection component is including fixing protection casing, rack guard shield and two guide rail shields on the base, the protection casing includes a plurality of top cover plate and two detachable side cover plates of fixing at the base both ends of connecting at the base top of dismantling, and two side cover plates are located the detachable fixed connection of the outer wall of two top cover plates in the outside with two respectively, one of them seted up on the side cover plate and linked the tow chain matched with through wires hole even, the rack guard shield sets up in the outside of driving rack, two the guide rail shield sets up the outside at two linear guide respectively.
Preferably, the protection assembly further comprises a plurality of support frames fixed on two sides of the top of the base, and the support frames are respectively fixed at the junction of every two adjacent top cover plates and the junction of the top cover plate and the side cover plates.
Preferably, a linear guide rail lubricating pump is arranged on the installation and adjustment bottom plate.
The invention has the beneficial effects that:
1. through set up on the base by driving motor and rack and pinion drive mechanism complex drive assembly, drive the installation and adjust the bottom plate and remove on linear guide, accomplish long distance linear reciprocating motion of robot then, the robot is six degrees of freedom robot simultaneously to the work and the range of application of robot have been expanded greatly, have improved the work efficiency of robot.
2. The protection assembly is arranged on the traveling mechanism and comprises a protection cover arranged on the base, a rack protection cover arranged on the outer side of the transmission rack and a guide rail protection cover arranged on the outer side of the linear guide rail, so that the whole traveling mechanism is completely sealed, dust is effectively prevented from entering, and the appearance attractiveness of the traveling mechanism is greatly improved.
3. The lubricating pump for the linear guide rail is arranged on the mounting and adjusting bottom plate, the linear guide rail is lubricated regularly, the service life and the maintenance period of the whole travelling mechanism are prolonged, meanwhile, the travelling mechanism is reasonable and compact in structural design, high in safety coefficient and remarkable in using effect.
Drawings
Fig. 1 is a perspective view of a walking mechanism of a robot according to the present invention.
Fig. 2 is a front view of a walking mechanism of a robot according to the present invention.
Fig. 3 is a right side view of a walking mechanism of a robot according to the present invention.
Fig. 4 is a top view of a walking mechanism of a robot according to the present invention.
Fig. 5 is a schematic view of a portion of the structure of fig. 1.
Reference numbers in the figures: 1-a base; 2-a walking component; 3, mounting an adjusting bottom plate; 4-a guard assembly; 5-a drive assembly; 6-six-axis degree of freedom robot; 10-a placement space; 11-moving the main beam; 12-a connecting beam; 13-cable drag chain; 14-a fixed plate; 21-a linear guide rail; 22-a slide block; 23-a support seat; 31-linear guide rail lubrication pump; 41-protective cover; 42-rack shield; 43-a guide rail shield; 44-a support frame; 51-a drive motor; 52-a drive gear; 53-a drive rack; 411-a top cover plate; 412-side shield panels.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, a walking mechanism of a robot comprises a base 1, an installation and adjustment bottom plate 3 and a driving assembly 5, wherein the base 1 is an H-shaped structure frame, the walking assembly 2 is arranged in the base 1 along the length direction of the base, the installation and adjustment bottom plate 3 is installed on the walking assembly 2, the driving assembly is installed on the outer wall of one side of the base 1, the driving assembly 5 is in transmission connection with the installation and adjustment bottom plate 3, and a six-axis freedom robot 6 is installed at the top of the installation and adjustment bottom plate 3.
According to the walking mechanism of the robot, the driving assembly 5 matched with the driving motor 51 and the gear rack transmission mechanism is arranged on the base 1, the mounting and adjusting bottom plate 3 is driven to move on the linear guide rail 21, so that long-distance linear reciprocating motion of the robot is completed, and meanwhile, the robot is the six-axis-freedom-degree robot 6, so that the working and application range of the robot is greatly expanded, and the working efficiency of the robot is improved; the protective assembly 4 is arranged on the travelling mechanism, wherein the protective assembly 4 comprises a protective cover 41 arranged on the H-shaped structure frame, a rack shield 42 arranged on the outer side of the transmission rack 53 and a guide rail shield 43 arranged on the outer side of the linear guide rail 21, so that the whole travelling mechanism is completely sealed, dust is effectively prevented from entering, and the appearance attractiveness of the travelling mechanism is greatly improved; the mounting and adjusting bottom plate 3 is provided with a lubricating pump for the linear guide rail 21 to lubricate the linear guide rail 21 regularly, so that the service life and the maintenance period of the whole travelling mechanism are prolonged.
As shown in fig. 1 and 5, the walking assembly 2 includes two symmetrical linear guide rails 21 arranged on the top surface of the H-shaped structure frame and a sliding block 22 used in cooperation with the linear guide rails 21, wherein the sliding blocks 22 are arranged symmetrically, and are connected with the installation and adjustment bottom plate 3 through a plurality of supporting seats 23 arranged in one-to-one correspondence with the sliding blocks 22, and the installation and adjustment bottom plate 3 is ensured to be stable and move accurately in the moving process through cooperation of the plurality of sliding blocks 21 and the linear guide rails 22, meanwhile, the relative resistance between the sliding blocks 22 and the linear guide rails 21 is small, and the design and production cost can be reduced.
As shown in fig. 1 and 5, the driving assembly 5 includes a driving motor 51 with a planetary reducer, a transmission gear 52 connected to an output end of the driving motor 51, and a transmission rack 53 used in cooperation with the transmission gear 52, wherein the transmission rack 53 is disposed on the H-shaped frame to provide a necessary power source for the long-distance linear reciprocating motion of the installation adjustment bottom plate 3.
As shown in fig. 1, 3 and 5, the H-shaped structural frame includes two movable main beams 11 symmetrically arranged and a plurality of connecting beams 12 arranged between the two movable main beams 11, the connecting beams 12 and the movable main beams 11 on both sides thereof form a placement space 10, and a cable drag chain 13 is arranged in the placement space 10, it should be understood that the cable drag chain 13 is used for placing all cables in the traveling mechanism and moves together with a robot, so as to improve the cleanliness and safety of the traveling mechanism.
As shown in fig. 1 to 5, the bottom end of the main moving beam 11 is provided with a plurality of fixing plates 14 arranged at intervals, and the fixing plates 14 are used for fixing the base 1 at a designated working position.
As shown in fig. 1 and 5, both ends of one of the moving main beams 11 are provided with a travel switch (not shown) and a buffer (not shown), so that the robot is prevented from rushing out of the linear guide rail 21 in the moving process, and the safety factor of the robot is improved.
As shown in fig. 1 and 5, the protection assembly 4 further includes a protection cover 41, a rack shield 42 and a guide rail shield 43, which are arranged on the H-shaped structure frame, wherein the protection cover 41 includes a plurality of top shield plates 411 and two side shield plates 412, which are located outside the two outermost top shield plates 411, one of the side shield plates 412 is provided with a threading hole used in cooperation with the cable drag chain 13, the side shield plates 412 are detachably connected with the top shield plates 411, the boundary between every two adjacent top shield plates 411 and the boundary between the top shield plates 411 and the side shield plates 412 are connected with the H-shaped structure frame through a supporting frame 44, it should be understood that the rack shield 42 is arranged outside the transmission rack 54, the guide rail shields 43 are two and arranged outside the two linear guide rails 21, and the whole traveling mechanism is in a fully-closed dustproof structure through the use of the protection cover 41, the rack shield 42 and the guide rail shield 43, meanwhile, the appearance attractiveness of the whole travelling mechanism is greatly improved, the structure is reasonable, the appearance is attractive, the travelling mechanism is sealed and dustproof, and the safety coefficient in the use process can be effectively improved.
As shown in fig. 1 to 4, the installation and adjustment bottom plate 3 is provided with a linear guide rail lubrication pump 31, wherein the linear guide rail lubrication pump 31 periodically supplements a lubricant for the two linear guide rails 21, so as to ensure the stability and accuracy of the installation and adjustment bottom plate 3 during the walking process, reduce the running resistance, and effectively prolong the maintenance period and the service life of the walking mechanism.
As shown in fig. 1 to 4, the installation and adjustment bottom plate 3 is suitable for being connected with a six-axis-of-freedom robot 6, and the whole walking mechanism is matched with the six-axis-of-freedom robot 6, so that the robot can move in a long distance, the working and application range of the robot is expanded, and the working efficiency of the robot is improved.
The working principle is as follows: through set up on base 1 by driving motor 51 and rack and pinion drive mechanism complex drive assembly 5, drive installation adjusting bottom plate 3 and remove on linear guide 21, accomplish the long distance linear reciprocating motion of robot then, the robot is six degrees of freedom robot simultaneously to the work and the range of application of robot have been expanded greatly, have improved the work efficiency of robot.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides a running gear of robot, includes base (1), installation adjusting bottom plate (3) and drive assembly (5), its characterized in that, base (1) is H type structure frame, the inside of base (1) is provided with running assembly (2) along its length direction, installation adjusting bottom plate (3) are installed on running assembly (2), drive assembly installs on one side outer wall of base (1), and drive assembly (5) are connected with installation adjusting bottom plate (3) transmission, six freedom degree robots (6) are installed at the top of installation adjusting bottom plate (3).
2. The walking mechanism of a robot according to claim 1, wherein the base (1) is composed of two movable main beams (11) symmetrically arranged and a plurality of connecting beams (12) fixed between the two movable main beams (11), the connecting beams (12) are parallel to each other, the connecting beams (12) and the movable main beams (11) on both sides thereof form a placing space (10), and an electric connecting drag chain (13) is arranged in the placing space (10).
3. A walking mechanism of a robot according to claim 2, wherein a plurality of partition plates (14) are fixed at the bottom of the moving main beam (11), and a space is provided between adjacent partition plates (14).
4. The walking mechanism of the robot according to claim 1, wherein the driving assembly (5) is composed of a motor (51) arranged on the outer wall of the base (1), a transmission gear (52) fixed at one end of the output shaft of the motor (51) and a transmission rack (53) fixed on the adjusting bottom plate (3), and the transmission gear (52) is meshed with the transmission rack (53).
5. The walking mechanism of the robot as claimed in claim 2, wherein the walking assembly (2) comprises linear guide rails (21) symmetrically fixed on the top of the two movable main beams (11) and a plurality of sliding blocks (22) slidably connected to the outside of the two linear guide rails (21), the plurality of sliding blocks (22) outside the two linear guide rails (21) are symmetrically arranged in pairs, and the plurality of sliding blocks (22) are fixedly connected with the bottom of the installation and adjustment bottom plate (3) through supporting seats (23).
6. A running gear for a robot according to claim 2, 4 or 5, the walking component (2) is provided with a protective component (4), the protective component (4) comprises a protective cover (41) fixed on the base (1), a rack protective cover (42) and two guide rail protective covers (43), the protective cover (41) comprises a plurality of top cover plates (411) detachably connected to the top of the base (1) and two side cover plates (412) detachably fixed at two ends of the base (1), the two side cover plates (412) are respectively detachably and fixedly connected with the outer walls of the two top cover plates (411) positioned at the outermost sides, one of the side cover plates (412) is provided with a threading hole matched with the electric connecting drag chain (13), the rack shield (42) is arranged on the outer side of the transmission rack (53), and the two guide rail shields (43) are respectively arranged on the outer sides of the two linear guide rails (21).
7. The robot traveling mechanism according to claim 6, wherein the protection assembly (4) further comprises a plurality of support frames (44) fixed on both sides of the top of the base (1), and the plurality of support frames (44) are respectively fixed at the junction of two adjacent top cover plates (411) and the junction of the top cover plate (411) and the side cover plate (412).
8. A walking mechanism of a robot according to claim 1, characterized in that a linear guide rail lubrication pump (31) is provided on the installation adjustment bottom plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011057179.6A CN112192543A (en) | 2020-09-29 | 2020-09-29 | Running gear of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011057179.6A CN112192543A (en) | 2020-09-29 | 2020-09-29 | Running gear of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112192543A true CN112192543A (en) | 2021-01-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011057179.6A Pending CN112192543A (en) | 2020-09-29 | 2020-09-29 | Running gear of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112192543A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146592A (en) * | 2021-03-12 | 2021-07-23 | 南京智必达自动化科技有限公司 | Five truss manipulators |
| CN113199457A (en) * | 2021-05-12 | 2021-08-03 | 温州职业技术学院 | Electromechanical integrated robot base fixing device |
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| CN107186693A (en) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | A kind of walking axle of small scale robot |
| KR20180051065A (en) * | 2016-11-08 | 2018-05-16 | (주)영창로보테크 | Moving carriage of the sealed type robot for traveling |
| CN207645351U (en) * | 2017-12-21 | 2018-07-24 | 安徽预立兴川机器人技术股份有限公司 | A kind of liquid crystal display panel carrying clean-room robot loading moving platform device |
| CN108436886A (en) * | 2018-06-11 | 2018-08-24 | 珠海格力智能装备有限公司 | Track robot |
| CN110091312A (en) * | 2019-04-17 | 2019-08-06 | 中国汽车工业工程有限公司 | A kind of universal type industrial robot additional shaft guide rail structure |
| CN209520890U (en) * | 2018-12-29 | 2019-10-22 | 广州明珞汽车装备有限公司 | A kind of robot linear movement running gear |
| CN210435715U (en) * | 2019-08-14 | 2020-05-01 | 淄博纽氏达特机器人系统技术有限公司 | Totally enclosed sliding base |
| CN211163921U (en) * | 2019-12-02 | 2020-08-04 | 武汉捷福鹰汽车装备有限公司 | Linear walking platform of robot |
-
2020
- 2020-09-29 CN CN202011057179.6A patent/CN112192543A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180051065A (en) * | 2016-11-08 | 2018-05-16 | (주)영창로보테크 | Moving carriage of the sealed type robot for traveling |
| CN107186693A (en) * | 2017-06-05 | 2017-09-22 | 上海发那科机器人有限公司 | A kind of walking axle of small scale robot |
| CN207645351U (en) * | 2017-12-21 | 2018-07-24 | 安徽预立兴川机器人技术股份有限公司 | A kind of liquid crystal display panel carrying clean-room robot loading moving platform device |
| CN108436886A (en) * | 2018-06-11 | 2018-08-24 | 珠海格力智能装备有限公司 | Track robot |
| CN209520890U (en) * | 2018-12-29 | 2019-10-22 | 广州明珞汽车装备有限公司 | A kind of robot linear movement running gear |
| CN110091312A (en) * | 2019-04-17 | 2019-08-06 | 中国汽车工业工程有限公司 | A kind of universal type industrial robot additional shaft guide rail structure |
| CN210435715U (en) * | 2019-08-14 | 2020-05-01 | 淄博纽氏达特机器人系统技术有限公司 | Totally enclosed sliding base |
| CN211163921U (en) * | 2019-12-02 | 2020-08-04 | 武汉捷福鹰汽车装备有限公司 | Linear walking platform of robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146592A (en) * | 2021-03-12 | 2021-07-23 | 南京智必达自动化科技有限公司 | Five truss manipulators |
| CN113199457A (en) * | 2021-05-12 | 2021-08-03 | 温州职业技术学院 | Electromechanical integrated robot base fixing device |
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Application publication date: 20210108 |