CN113021343A - Chassis and visual robot comprising same - Google Patents
Chassis and visual robot comprising same Download PDFInfo
- Publication number
- CN113021343A CN113021343A CN202110296527.3A CN202110296527A CN113021343A CN 113021343 A CN113021343 A CN 113021343A CN 202110296527 A CN202110296527 A CN 202110296527A CN 113021343 A CN113021343 A CN 113021343A
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- CN
- China
- Prior art keywords
- chassis
- wheel
- wheels
- rail
- screw rod
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
Abstract
The invention relates to a robot, in particular to a chassis and a visual robot comprising the chassis. The chassis comprises a frame and four wheels I, wherein the wheels I protrude from the upper portion of the frame to be installed, four corners of each wheel I are located in a virtual rectangle, and the distance between any two adjacent wheels I can be adjusted. The vision robot comprises the chassis, wherein a miniature camera is arranged at one end of a finger tube, the other end of the finger tube is connected with a circumference driving mechanism, and the circumference driving mechanism is arranged at the lower part of a carrying beam or a carrying rail I and used for driving the other end of the miniature camera to do circular motion. The vision robot is convenient for cooperate the chassis to make miniature camera head inspect the condition in the casing in the circumference scope, the installation of the stator of being convenient for.
Description
Technical Field
The invention relates to a robot, in particular to a chassis and a visual robot comprising the chassis.
Background
For example, the disclosure No. CN209190764U is a rail-mounted vision robot, comprising a C-shaped guide rail, wherein two roller grooves parallel to each other are arranged at the bottom side inside the C-shaped guide rail, strip-shaped sliding grooves are respectively arranged at the mutually adjacent sides of the two roller grooves parallel to each other, rollers are respectively connected inside the two roller grooves parallel to each other in a rolling manner, annular sliding grooves are respectively arranged at the mutually adjacent sides of the two rollers, positioning grooves are respectively arranged at one sides inside the two annular sliding grooves, the annular sliding grooves and the strip-shaped sliding grooves are connected through a connecting slider, positioning columns are respectively arranged on the upper surface of the connecting slider, the positioning columns correspond to the positioning grooves, a rotating shaft is arranged at the mutually adjacent side of the two rollers, a conical gear II is arranged at the middle part of the side surface of the rotating shaft, the conical gear II is meshed with a conical gear I, the rail-mounted vision robot can, the maintenance cost is further reduced, and the normal work of the vision robot is not influenced; but the vision robot is inconvenient to check the inside of the housing on the production line.
Disclosure of Invention
The invention aims to provide a chassis and a vision robot comprising the chassis, which can facilitate the inspection of the internal condition of a shell on a production line.
The purpose of the invention is realized by the following technical scheme:
the chassis comprises a frame and four wheels I, wherein the wheels I protrude from the upper portion of the frame to be installed, four corners of each wheel I are located in a virtual rectangle, and the distance between any two adjacent wheels I can be adjusted.
The frame comprises a carrying beam and a carrying rail I which are symmetrically arranged pairwise, the carrying beam and the carrying rail I are fixedly connected in sequence to form a rectangular structure, and a channel I is arranged on the carrying rail I;
the chassis further comprises two wheel carriers, two ends of each wheel carrier can be respectively connected into the grooves I on the two wheel carrying rails I in a sliding mode, and the four wheels I are arranged on the two wheel carriers in a divided mode; each wheel carrier can adjust the interval between two wheels I on itself.
The wheel carrier comprises a telescopic mechanism, a carrying rail II, bearing seats, a bidirectional screw rod, wheel seats, shafts I and sliding blocks, wherein the carrying rail II is provided with a channel II, two ends of the lower part of the carrying rail II are fixedly connected with a guide block which can be matched with the channel I, two ends of the upper part of the carrying rail II are fixedly connected with the bearing seats respectively, the bearing seats are used for rotatably connecting two ends of the bidirectional screw rod, the wheel seats are provided with two wheel seats, the wheel seats are rotatably connected with the outer end of the shaft I, the lower ends of the wheel seats are integrally connected with the sliding blocks, the sliding blocks are slidably connected in the channel II, two ends of the carrying rail II are slidably connected in the channel I on the carrying rail I through the guide blocks, the telescopic mechanism is arranged on a carrying; four wheels I are fixedly connected to the inner ends of the four shafts I respectively.
The wheel carrier further comprises a base frame and two clamping parts which can be mutually clamped and separated, wherein one clamping part can be longitudinally adjusted relative to the base frame, the other clamping part is fixedly connected to the middle of the bidirectional screw rod, the base frame is fixedly connected to the middle of the upper end of the carrier rail II, and the bidirectional screw rod penetrates through or is rotatably connected to the base frame.
The clamping part on the bidirectional screw rod is a clamping sleeve, tooth grooves are uniformly formed in the circumferential direction of the clamping sleeve, the clamping head is another clamping part, the upper end of the clamping head is rotatably connected with the lower end of a screw, and the screw is in threaded connection with the upper portion of the base frame.
The chassis and the visual robot comprising the chassis have the beneficial effects that:
the visual robot can check the condition inside the shell on the assembly line according to the actual operating environment through the chassis which can walk on the suspended ceiling type track or the ground; the vision robot is convenient for check the condition in the shell in the circumference range, and is convenient for the installation of the stator.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 shows schematically the overall structure of the invention in a perspective view;
FIG. 2 shows schematically in perspective a first partial structure of the invention;
fig. 3 shows schematically a second partial structure of the invention in a perspective view;
FIG. 4 shows schematically in perspective a third partial structure of the invention;
FIG. 5 schematically illustrates a fourth portion of the present invention in perspective view;
FIG. 6 shows schematically in perspective a fifth partial structure of the invention;
FIG. 7 shows schematically in perspective a sixth partial structure of the invention;
FIG. 8 shows schematically a seventh partial structure of the invention in a perspective view;
fig. 9 shows schematically in a perspective view an eighth partial structure according to the invention;
FIG. 10 schematically shows a ninth partial structure of the present invention in a perspective view;
fig. 11 schematically shows a tenth partial structure of the present invention in a perspective view.
In the figure: a carrier beam 11;
a carrier rail I12;
a telescoping mechanism 13;
a carrier rail II 21;
a bearing housing 22;
a bidirectional lead screw 23;
a wheel seat 24;
a shaft I25;
a wheel I26;
a slider 27;
a ferrule 28;
a chuck 29;
a screw 210;
a base frame 211;
a base 31;
a shaft II 32;
an adjustment seat 33;
a shaft III 34;
a lever arm 35;
a wheel II 36;
a connecting frame 41;
a reduction motor 42;
the cantilever 51 is adjusted;
a lead screw 52;
a hand block 53;
a vial 54;
and shaft four 55.
Detailed Description
It is easily understood that according to the technical solution of the present invention, a person skilled in the art can propose various alternative structures and implementation ways without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention.
The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms. Furthermore, the first, second, third, etc. similar descriptions are used for distinguishing and not for limiting the importance.
The present invention will be described in further detail with reference to the accompanying drawings.
This section may be based on an exemplary process shown in fig. 1:
when the wheels I26 positioned on the front side and the rear side are close to each other, the width of a virtual rectangle where the four wheels I26 are positioned is reduced, so that the four wheels I26 are conveniently installed on a ceiling type track which can be of an inverted T-shaped structure, and the length of the width can be adjusted to be suitable for tracks of inverted T-shaped structures of different specifications; when two arbitrary adjacent wheels I26 keep away from each other, increase the virtual rectangle area that four wheels I26 are in, increase the holding surface, can make the chassis invert and stably walk subaerial, realize the use of chassis under two kinds of situations, when the middle part on wheel I26 outer lane surface is equipped with the recess, wheel I26 also can walk on the convex rail on ground, because of the interval between the wheel I26 is adjustable, and then can adapt to the convex rail with different intervals, wheel I26 can be a plurality ofly according to the specification deposit of recess, with the convex rail of the different specifications of adaptation.
This part may be according to an exemplary working process shown in fig. 1 and 2:
the adjustable interval between two year wheel wares is realized through two year wheel wares sliding on channel I, and then the interval of wheel I26 that is located both sides can be adjusted. The distance between the two wheels I26 on each wheel carrier can be adjusted, so that the distance between the wheels I26 on the left side and the right side can be adjusted. Because of two inter-carrier wheel I26's interval can carry out the independent control, and then lie in the interval of two wheels I26 of front/back and can be greater than the interval of two wheels I26 of opposite side, and then can install the chassis on curved track of falling the T type, two wheels I26 that the interval is little are installed in the orbital inboard of falling the T type, and two wheels I26 that the interval is big are installed in the orbital outside of falling the T type.
This part may be according to an exemplary working process shown in fig. 2, 3, 6:
the thread directions of the left side and the right side of the bidirectional screw rod 23 are opposite, and the distance between two wheels I26 on the wheel carrier, namely the distance between the wheels I26 on the left side and the right side can be synchronously adjusted when the bidirectional screw rod 23 is rotated. When the telescopic mechanism 13 is started, the wheel carrier connected with the telescopic mechanism can be driven to move back and forth, and the distance between the wheels I26 positioned at the front side and the rear side is further changed. Referring to fig. 2, the telescopic mechanism 13 may be an electric telescopic rod, and the installation position of the electric telescopic rod is staggered front and back, so that the maximum adjustment of the distance between the two wheel carriers is realized in a limited space.
This part may be according to an exemplary working process shown in fig. 3 and 4:
when the two clamping parts are clamped, the bidirectional screw 23 is locked, the bidirectional screw 23 cannot rotate, and when the two clamping parts are separated, the bidirectional screw 23 is stopped being locked, and the bidirectional screw 23 can rotate.
This part may be according to an exemplary working process shown in fig. 3 and 4:
when the screw 210 is rotated, the screw 210 can be lifted, so that the chuck 29 is separated from or clamped on the chuck sleeve 28, and the chuck 29 is integrally connected with convex teeth matched with the tooth grooves. Because the collet 29 is rotatable on the screw 210, this prevents the collet 29 from being unable to engage the ferrule 28 due to rotation of the screw 210.
Handles are arranged at the side end of the bidirectional screw rod 23 and the upper end of the screw rod 210.
This part may be according to an exemplary working process shown in fig. 1, 3, 4:
the mounting position of the handle is shown to facilitate rotation of the bidirectional lead screw 23 and the threaded rod 210.
Two wheels I26 which are positioned on the same side in the motion direction of the chassis are driven by a power source respectively to rotate.
The power source is an electric motor.
This section may be based on an exemplary process shown in fig. 1:
the motors are arranged on the outer sides of the wheel seats 24, the wheels I26 are not influenced to walk on the inverted T-shaped track, and the two motors independently drive the two wheels I26 to enhance power or steer the chassis according to different rotating speeds.
This chassis still includes and increases steady mechanism, it includes base 31, axle II 32, adjusts seat 33, axle III 34, lever arm 35 and wheel II 36 to increase steady mechanism, rotates on the base 31 to be connected with axle II 32 that can the auto-lock, adjusts seat 33 rigid coupling on axle II 32, adjusts and rotates on the seat 33 to be connected with axle III 34 that can the auto-lock, the one end and the III 34 rigid coupling of axle of lever arm 35, the other end of lever arm 35 rotates and is connected with wheel II 36, the axis of wheel II 36 can coincide with the axis of wheel I26.
This part may be according to an exemplary working process shown in fig. 7 and 8:
when the chassis is arranged on the inverted T-shaped track, the axis of the wheel II 36 can be coincided with the axis of the wheel I26, then the lever arm 35 is rotated around the axis of the shaft III 34, the height of the wheel II 36 is further changed, the height of the wheel II 36 is adjusted to be in contact with the upper portion of the inverted T-shaped track, and further the traveling stability is improved. The adjusting seat 33 can also rotate around the axis of the shaft II 32, so that the position of the wheel II 36 in the front-back direction is changed, the wheel II 36 is attached to the beam wall in the middle of the T-shaped track or the I-shaped track, the running stability is further improved, the axis of the wheel II 36 is spatially staggered with the axis of the wheel I26 in the position changing mode of the wheel II 36, and the problem that the wheel I26 cannot contact with the upper portion of the track and is selected is avoided. One end of the shaft II 32 is supported out of the base 31 and is provided with an external thread, the external thread of the shaft II 32 is in threaded connection with a nut, and when the nut is locked on the base 31, self-locking of the shaft II 32 is achieved.
A visual robot comprises the chassis, wherein a miniature camera is arranged at one end of a finger tube 54, the other end of the finger tube 54 is connected with a circumference driving mechanism, and the circumference driving mechanism is arranged at the lower part of a carrying beam 11 or a carrying rail I12 and used for driving the other end of the miniature camera to do circumference motion.
This section may be according to one exemplary process shown in fig. 10:
when the vial 54 makes a circular motion, the motion track of the part provided with the miniature camera is a circle, so that the vial 54 can be conveniently inserted into the shell of the stator to determine or check the installation position of the stator.
The vial 54 is a flexible, metal protective sleeve.
This section may be according to one exemplary operation shown in fig. 10 and 11:
the vial 54 can be shaped by bending to extend or shorten or change the range of circumferential movement, thereby adapting to the detection range in different shells and facilitating inspection on the production line.
The driving mechanism comprises a connecting frame 41, a speed reducing motor 42, adjusting cantilevers 51 and a shaft IV 55, wherein the connecting frame 41 is fixedly connected to the lower ends of the two carrier beams 11, the speed reducing motor 42 is fixedly connected to the lower portion of the connecting frame 41, an output shaft of the speed reducing motor 42 penetrates through the lower portion of the connecting frame 41 from top to bottom, the output shaft of the speed reducing motor 42 is rotatably connected with the connecting frame 41, one end of each adjusting cantilever 51 is fixedly connected with the shaft IV 55, the shaft IV 55 is arranged on the output shaft of the speed reducing motor 42, and a finger pipe 54 is arranged on one side, far away from the speed reducing motor.
This part may be according to an exemplary working process shown in fig. 9, 10, 11:
the gear motor 42 is started to drive the adjusting cantilever 51 to rotate around the output shaft of the gear motor 42, so that the adjusting cantilever 51 makes a circular motion, and the adjusting cantilever 51 drives the vial 54 to make a circular motion.
The driving mechanism further comprises a lead screw 52 and a hand block 53, a notch is formed in the middle of the adjusting cantilever 51, the lead screw 52 is located in the notch, two ends of the lead screw 52 are respectively connected to two ends of the adjusting cantilever 51 in a rotating mode, the hand block 53 is connected to the lead screw 52 in a threaded mode, and the hand block 53 is connected to the notch in a sliding mode to achieve linear motion.
This section may be according to one exemplary process shown in fig. 10:
the turning of the lead screw 52 is used to adjust the position of the hand piece 53 and thus change the radius of the circular motion of the vial 54, when the chassis is suspended or walked on the ground and the vial 54 extends to a straight line, the farthest position of lowering or raising of the vial 54 is reached, and the range of probing of the vial 54 is changed by adjusting the hand piece 53.
The technical scope of the present application is not limited to the contents in the above description, and those skilled in the art can make various changes and modifications to the above embodiments without departing from the technical spirit of the present application, and these changes and modifications should fall within the protective scope of the present application.
Claims (10)
1. A chassis, includes frame and four wheels I (26), its characterized in that: the wheels I (26) protrude from the upper portion of the frame to be installed, the four wheels I (26) are located at four corners of a virtual rectangle, and the distance between any two adjacent wheels I (26) can be adjusted.
2. The chassis of claim 1, wherein: the frame comprises a load beam (11) and a load rail I (12) which are symmetrically arranged in pairs, the load beam (11) and the load rail I (12) are fixedly connected in sequence to form a rectangular structure, and a channel I is arranged on the load rail I (12);
the chassis further comprises two wheel carriers, two ends of each wheel carrier can be respectively connected into the groove I on the two wheel carrying rails I (12) in a sliding manner, and the four wheels I (26) are uniformly arranged on the two wheel carriers; each wheel carrier can adjust the distance between two wheels I (26) on the wheel carrier.
3. The chassis of claim 2, wherein: the wheel carrier comprises a telescopic mechanism (13), a carrying rail II (21), two bearing seats (22), two-way lead screws (23), a wheel seat (24), a shaft I (25) and a sliding block (27), wherein the carrying rail II (21) is provided with a channel II, two ends of the lower part of the carrying rail II (21) are respectively fixedly connected with a guide block which can be matched with the channel I, two ends of the upper part of the carrying rail II (21) are respectively fixedly connected with one bearing seat (22), the bearing seats (22) are used for rotatably connecting two ends of the two-way lead screws (23), the wheel seats (24) are provided with two, the outer end of the shaft I (25) is rotatably connected on the wheel seat (24), the lower end of the wheel seat (24) is integrally connected with the sliding block (27), the sliding block (27) is slidably connected in the channel II, two ends of the carrying rail II (21) are slidably connected in the channel I on the carrying rail I (12) through the guide blocks, the movable end of the telescopic mechanism (13) is fixedly connected with the carrying rail II (21); four wheels I (26) are respectively fixedly connected at the inner ends of the four shafts I (25).
4. The chassis of claim 3, wherein: the wheel carrier further comprises a base frame (211) and two clamping parts which can be mutually clamped and separated, wherein one clamping part can be longitudinally adjusted relative to the base frame (211), the other clamping part is fixedly connected to the middle of the bidirectional screw rod (23), the base frame (211) is fixedly connected to the middle of the upper end of the carrying rail II (21), and the bidirectional screw rod (23) penetrates through or is rotatably connected to the base frame (211).
5. The chassis of claim 4, wherein: the clamping part on the bidirectional screw rod (23) is a clamping sleeve (28), tooth grooves are uniformly formed in the circumferential direction of the clamping sleeve (28), the clamping head (29) is another clamping part, the upper end of the clamping head (29) is rotatably connected with the lower end of a screw rod (210), and the screw rod (210) is in threaded connection with the upper portion of the base frame (211).
6. The chassis of claim 5, wherein: handles are arranged at the side end of the bidirectional screw rod (23) and the upper end of the screw rod (210).
7. The chassis of any of claims 1 to 6, wherein: two wheels I (26) which are positioned on the same side in the motion direction of the chassis are driven by a power source respectively to rotate.
8. The chassis of claim 7, wherein: the power source is an electric motor.
9. The chassis of claim 8, wherein: this chassis is still including increasing steady mechanism, it includes base (31), axle II (32), adjusts seat (33), axle III (34), lever arm (35) and wheel II (36) to increase steady mechanism, it is connected with axle II (32) that can the auto-lock to rotate on base (31), it is on axle II (32) to adjust seat (33) rigid coupling, it is connected with axle III (34) that can the auto-lock to rotate on adjusting seat (33), the one end and the axle III (34) rigid coupling of lever arm (35), the other end of lever arm (35) is rotated and is connected with wheel II (36), the axis of wheel II (36) can coincide with the axis of wheel I (26).
10. A vision robot comprising a chassis according to claim 8 or 9, comprising a vial (54), characterized in that: one end of the finger pipe (54) is provided with a miniature camera, the other end of the finger pipe (54) is connected with a circumference driving mechanism, and the circumference driving mechanism is arranged at the lower part of the carrying beam (11) or the carrying rail I (12) and is used for driving the other end of the miniature camera to do circular motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110296527.3A CN113021343B (en) | 2021-03-19 | 2021-03-19 | Chassis and visual robot comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110296527.3A CN113021343B (en) | 2021-03-19 | 2021-03-19 | Chassis and visual robot comprising same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113021343A true CN113021343A (en) | 2021-06-25 |
| CN113021343B CN113021343B (en) | 2021-11-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110296527.3A Active CN113021343B (en) | 2021-03-19 | 2021-03-19 | Chassis and visual robot comprising same |
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| Country | Link |
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| CN (1) | CN113021343B (en) |
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| Publication number | Publication date |
|---|---|
| CN113021343B (en) | 2021-11-12 |
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