CN113263495B

CN113263495B - Movable platform for industrial robot

Info

Publication number: CN113263495B
Application number: CN202110634834.8A
Authority: CN
Inventors: 肖祥慧
Original assignee: Foshan University
Current assignee: Foshan University
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2022-07-29
Anticipated expiration: 2041-06-08
Also published as: CN113263495A

Abstract

The invention discloses a movable platform for an industrial robot, which belongs to the technical field of movable platforms and comprises a position displacement device, an angle change device and a position overturning device, wherein the position displacement device comprises a horizontal moving assembly and a position rotating assembly, the position rotating assembly is rotatably connected to a moving end on the horizontal moving assembly, the angle change device is positioned on a rotating end of the position rotating assembly, the angle change device comprises a position change assembly and a position lifting assembly, the position change assembly is positioned on the position rotating assembly, the position lifting assembly is positioned on the position change assembly and is in sliding fit with the position change assembly, and the position overturning device is positioned on the position lifting assembly. The invention can move the industrial robot at different positions to meet different use requirements.

Description

Movable platform for industrial robot

Technical Field

The invention relates to the technical field of mobile platforms, in particular to a mobile platform for an industrial robot.

Background

An industrial robot is defined as "its manipulator is automatically controlled, reprogrammable, versatile, and can program more than 3 axes. It may be stationary or mobile. In industrial automation applications. A manipulator is also defined as "a machine whose mechanism is generally composed of a series of members hinged or sliding with respect to each other. It usually has several degrees of freedom for grasping or moving an object (tool or workpiece). "so may be understood to an industrial robot: a mechatronic device that simulates the functions of an arm, a wrist, and a hand; it can move any object or tool according to the time-varying requirement of space pose (position and posture), so as to meet the operation requirement of some industrial production. Such as clamping a welding tongs or a welding gun, and carrying out spot welding or arc welding on the automobile or motorcycle body; carrying die-cast or punch-formed parts or components; carrying out laser cutting; spraying; assembling mechanical parts, etc.

For example, the patent publication No. CN109129406A relates to a movable platform for an industrial robot, and the invention discloses a movable platform for an industrial robot, which comprises a bottom plate, a slide rail, a slide block, a support plate, a robot, a fixing plate, a slide plate, a spring, a first switch, a top block, a first motor and a screw rod.

However, the above-described apparatus has a problem that, firstly, when the industrial robot is moved, the position of the industrial robot can be changed only at a single position, and secondly, the position of the industrial robot cannot be reversed, so that the moving effect is not good.

Disclosure of Invention

The embodiment of the invention provides a movable platform for an industrial robot, which solves the problems in the prior art.

The embodiment of the invention adopts the following technical scheme: the utility model provides a portable platform that industrial robot used, includes position displacement device, angle change device and position turning device, the position displacement device includes horizontal migration subassembly and position rotating assembly, position rotating assembly rotates to be connected on the removal of horizontal migration subassembly is served, the angle change device is located the rotation of position rotating assembly and serves, the angle change device includes position change subassembly and position lift subassembly, the position change subassembly is located position rotating assembly, position lift subassembly is located position change subassembly and position lift subassembly and position change subassembly sliding fit, position turning device is located position lift subassembly.

Further, the horizontal migration subassembly is including removing base, movable plate, two carriage release levers, two movable electrical machines and two moving gear, it sets up to remove the base to be the level, two the carriage release lever symmetry sets up on removing the base, movable plate and two carriage release lever sliding fit, movable plate and moving base sliding fit, two the moving motor symmetry sets up in the bottom of movable plate, two the moving gear is connected with two movable electrical machines's main shaft respectively, be equipped with on the moving base with two moving gear engaged's tooth's socket.

Further, position rotating assembly includes rotary disk, rotating electrical machines and four swiveling wheels, be equipped with the swivelling chute on the movable plate, four the swiveling wheel is the circumference and sets up in the bottom of rotary disk and four swiveling wheels and swivelling chute sliding fit, rotating electrical machines is located the movable plate and the vertical upwards setting of rotating electrical machines, the rotary disk rotates the top of connecting at the movable plate.

Furthermore, the position change component comprises a swing disc, two swing motors, three upper swing seats, three lower swing seats and three swing rods, the three lower swing seats are arranged at the top of the rotating disc at equal intervals, the bottoms of the swing rods are rotatably connected to the three lower swing seats, the three swing rods are rotatably connected to the three upper swing seats, the swing disc is horizontally connected to the three upper swing seats, the two swing motors are respectively arranged on the two lower swing seats, and the main shafts of the swing motors are in transmission connection with the bottoms of the swing rods.

Further, position lifting unit includes mount pad, last mount pad, lift electric cylinder and lifting disk down, the mount pad is located rotary disk top intermediate position down, the tail end of lift electric cylinder rotates with lower mount pad to be connected, go up the flexible end rotation of mount pad and lift electric cylinder and be connected, lifting disk and last mount pad fixed connection, be equipped with the lifter that two symmetries set up on the lifting disk, two lifter and swing dish sliding fit.

Further, the position turnover device comprises a turnover seat, a movable electric cylinder, a turnover plate, a turnover shaft, a turnover gear, a turnover toothed plate and a connecting plate, the turnover seat is vertically arranged at the top of the lifting disc, two sliding rods are symmetrically arranged on the turnover seat, sliding blocks which are in sliding fit with the sliding rods are arranged on the two sliding rods, the movable electric cylinder is vertically arranged at the top of the turnover seat, the telescopic end of the movable electric cylinder is connected with the top of the sliding block, the turnover shaft is rotationally connected to the sliding block, the turnover gear is fixedly connected with the turnover shaft, the turnover toothed plate is positioned on the rear wall of the turnover seat and meshed with the turnover gear, the overturning seat is provided with a sliding groove which is in sliding fit with the overturning shaft, one end of the connecting plate is rotationally connected with the overturning shaft, the other end of the connecting plate is fixedly connected with the sliding block, and the turnover plate is fixedly connected with the turnover shaft.

Furthermore, four mounting holes are formed in the turnover plate.

Further, be equipped with two fixed position subassemblies on the returning face plate, two the fixed position subassembly symmetry sets up on the returning face plate, every the fixed position subassembly all includes fixed plate, limiting plate and fixation lead screw, limiting plate fixed connection is on the returning face plate, fixation lead screw threaded connection is on the limiting plate, the fixed plate be located fixation lead screw one end and with returning face plate sliding fit.

The embodiment of the invention adopts at least one technical scheme which can achieve the following beneficial effects:

firstly, when the industrial robot is used at a special angle, the position of the industrial robot needs to be turned, at the moment, the movable electric cylinder works to drive the sliding blocks to move on the two sliding rods, the sliding blocks move to drive the position of the turnover shaft to move up and down, the turnover shaft moves to drive the turnover gear to rotate on the turnover toothed plate so as to drive the turnover shaft to turn over on the sliding blocks, the turnover shaft rotates to drive the turnover plate to rotate so as to turn over the position of the industrial robot, and the bottom of a workpiece to be installed and the position with a smaller angle can be used when the position of the industrial robot is turned over.

Secondly, when the industrial robot is used at different angles, the swing motor works to drive the swing rods to rotate on the lower swing seat, the swing rods rotate to drive the swing discs to swing through the three swing rods, and the swing discs swing to drive the position of the industrial robot to swing, so that the industrial robot can be used at different positions and angles.

Thirdly, when the position of the industrial robot needs to be lifted, the lifting electric cylinder works to drive the lifting disc to move up and down on the swinging disc through the two lifting rods, the lifting disc moves up and down to drive the position of the industrial robot to move up and down, the lifting disc works in cooperation with the position change component when moving up and down, the industrial robot can lift up and down along with the angle change of the position change component, and the industrial robot is used at different positions.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a schematic perspective view of the present invention;

FIG. 3 is a schematic perspective view of the position shifting apparatus of the present invention;

FIG. 4 is a disassembled view of the position displacement apparatus of the present invention;

FIG. 5 is a first schematic perspective view of an angle changing apparatus according to the present invention;

FIG. 6 is a schematic perspective view of a second embodiment of the angle changing device of the present invention;

FIG. 7 is a first schematic perspective view of the position flipping apparatus of the present invention;

FIG. 8 is a schematic perspective view of a second embodiment of the position flipping apparatus of the present invention;

reference numerals:

the position displacement device 1, the horizontal movement assembly 11, the movement base 111, the movement plate 112, the movement rod 113, the movement motor 114, the movement gear 115, the position rotation assembly 12, the rotation disk 121, the rotation motor 122, the rotation wheel 123, the rotation groove 124, the tooth groove 125, the angle change device 2, the position change assembly 21, the swing disk 211, the swing motor 212, the upper swing seat 213, the lower swing seat 214, the swing rod 215, the position lifting assembly 22, the lower mounting seat 221, the upper mounting seat 222, the lifting electric cylinder 223, the lifting disk 224, the lifting rod 225, the position turnover device 3, the turnover seat 31, the movement electric cylinder 32, the turnover plate 33, the turnover shaft 34, the turnover gear 35, the turnover toothed plate 36, the connection plate 37, the sliding block 38, the sliding rod 39, the sliding groove 391, the mounting hole 392, the position fixing assembly 4, the fixing plate 41, the limit plate 42, and the fixing screw rod 43.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 8, an embodiment of the present invention provides a mobile platform for an industrial robot, including a position displacement device 1, an angle changing device 2, and a position flipping device 3, where the position displacement device 1 includes a horizontal moving component 11 and a position rotating component 12, the position rotating component 12 is rotatably connected to a moving end of the horizontal moving component 11, the angle changing device 2 is located at a rotating end of the position rotating component 12, the angle changing device 2 includes a position changing component 21 and a position lifting component 22, the position changing component 21 is located on the position rotating component 12, the position lifting component 22 is located on the position changing component 21, the position lifting component 22 is in sliding fit with the position changing component 21, and the position flipping device 3 is located on the position lifting component 22. When industrial robot moved, can drive industrial robot through horizontal migration subassembly 11 and carry out horizontal position's removal, position rotating assembly 12 can industrial robot's position take place rotatoryly, can drive industrial robot through position change subassembly 21 and carry out the change of position angle, can industrial robot carry out the lift of position through position lifting unit 22, position turning device 3 can drive industrial robot and overturn, in order to be adapted to industrial robot and carry out different position changes, different operation requirements have been reached.

Specifically, horizontal migration subassembly 11 is including removing base 111, movable plate 112, two movable bars 113, two mobile motors 114 and two mobile gears 115, remove base 111 and be the level setting, two the movable bar 113 symmetry sets up on removing base 111, movable plate 112 and two movable bars 113 sliding fit, movable plate 112 and removal base 111 sliding fit, two the mobile motors 114 symmetry sets up in the bottom of movable plate 112, two mobile gears 115 is connected with two mobile motors 114's main shaft respectively, be equipped with on removing base 111 with two mobile gears 115 engaged's tooth's socket 125. When the industrial robot is moved horizontally, the two moving motors 114 operate simultaneously to drive the two moving gears 115 to rotate on the tooth grooves 125 on the moving base 111, so as to drive the moving plate 112 to move horizontally on the two moving rods 113, and the moving plate 112 moves horizontally to drive the industrial robot to move horizontally, so that the industrial robot is used at different positions.

Specifically, position rotating assembly 12 includes rotary disk 121, rotating electrical machines 122 and four swiveling wheels 123, be equipped with rotatory groove 124 on the movable plate 112, four swiveling wheels 123 are the circumference and set up in the bottom of rotary disk 121 and four swiveling wheels 123 and rotatory groove 124 sliding fit, rotating electrical machines 122 is located movable plate 112 and the vertical upwards setting of rotating electrical machines 122, rotary disk 121 rotates the top of connecting at movable plate 112. When the industrial robot rotates, the rotating motor 122 works to drive the rotating disc 121 to rotate in the rotating groove 124 through the four rotating wheels 123, the rotating disc 121 rotates to drive the industrial robot to rotate, the industrial robot is used at different positions, and the four rotating wheels 123 can assist the rotating disc 121 to rotate, so that the abrasion of the rotating disc 121 is reduced.

Specifically, the position changing assembly 21 includes a swing disc 211, two swing motors 212, three upper swing seats 213, three lower swing seats 214, and three swing rods 215, the three lower swing seats 214 are circumferentially and equally spaced at the top of the rotating disc 121, the bottoms of the three swing rods 215 are rotatably connected to the three lower swing seats 214, the three swing rods 215 are rotatably connected to the three upper swing seats 213, the swing disc 211 is horizontally connected to the three upper swing seats 213, the two swing motors 212 are respectively located on two lower swing seats 214, and a main shaft of the swing motor 212 is in transmission connection with the bottoms of the swing rods 215. When the industrial robot is used at different angles, the swing motor 212 works to drive the swing rod 215 to rotate on the lower swing seat 214, the swing rod 215 rotates to drive the swing disc 211 to swing through the three swing rods 215, and the swing disc 211 swings to drive the position of the industrial robot to swing, so that the industrial robot is used at different positions and angles.

Specifically, the position lifting assembly 22 includes a lower mounting seat 221, an upper mounting seat 222, a lifting electric cylinder 223 and a lifting disc 224, the lower mounting seat 221 is located at the middle position of the top of the rotating disc 121, the tail end of the lifting electric cylinder 223 is rotatably connected with the lower mounting seat 221, the upper mounting seat 222 is rotatably connected with the telescopic end of the lifting electric cylinder 223, the lifting disc 224 is fixedly connected with the upper mounting seat 222, two symmetrically arranged lifting rods 225 are arranged on the lifting disc 224, and the two lifting rods 225 are in sliding fit with the swinging disc 211. When the position of the industrial robot needs to be lifted, the lifting electric cylinder 223 works to drive the lifting disc 224 to move up and down on the swinging disc 211 through the two lifting rods 225, the lifting disc 224 moves up and down to drive the position of the industrial robot to move up and down, the position change component 21 works when the lifting disc moves up and down, the industrial robot can lift up and down along with the change of the angle of the position change component 21, and the industrial robot is used at different positions.

Specifically, the position turnover device 3 includes a turnover seat 31, a movable electric cylinder 32, a turnover plate 33, a turnover shaft 34, a turnover gear 35, a turnover toothed plate 36 and a connecting plate 37, the turnover seat 31 is vertically disposed on the top of the lifting plate 224, the turnover seat 31 is provided with two symmetrical sliding rods 39, the two sliding rods 39 are provided with sliding blocks 38 in sliding fit therewith, the movable electric cylinder 32 is vertically disposed on the top of the turnover seat 31, the telescopic end of the movable electric cylinder 32 is connected with the top of the sliding blocks 38, the turnover shaft 34 is rotatably connected to the sliding blocks 38, the turnover gear 35 is fixedly connected with the turnover shaft 34, the turnover toothed plate 36 is disposed on the rear wall of the turnover seat 31 and the turnover toothed plate 36 is engaged with the turnover gear 35, the turnover seat 31 is provided with a sliding groove 391 in sliding fit with the turnover shaft 34, one end of the connecting plate 37 is rotatably connected with the turnover shaft 34, the other end of the connecting plate 37 is fixedly connected with a sliding block 38, and the turning plate 33 is fixedly connected with a turning shaft 34. When using special angle to industrial robot, the position that needs industrial robot overturns, it moves sliding block 38 and moves on two slide bars 39 to remove the work of electric jar 32 this moment, sliding block 38 moves the position that drives trip shaft 34 and reciprocates, trip shaft 34 moves and drives upset gear 35 and rotate on upset pinion rack 36, thereby drive trip shaft 34 and overturn on sliding block 38, trip shaft 34 rotates and drives trip plate 33 and rotate the position that makes industrial robot and take place the upset, industrial robot's position takes place the upset and can treat the bottom of the work piece of installation and the less position of angle and use.

Specifically, four mounting holes 392 are formed on the turnover plate 33. Four mounting holes 392 are used for mounting to an industrial robot.

Specifically, be equipped with two fixed position subassemblies 4 on the returning face plate 33, two 4 symmetries of fixed position subassembly set up on returning face plate 33, every fixed position subassembly 4 all includes fixed plate 41, limiting plate 42 and stationary screw 43, limiting plate 42 fixed connection is on returning face plate 33, stationary screw 43 threaded connection is on limiting plate 42, fixed plate 41 is located stationary screw 43's one end and with returning face plate 33 sliding fit. When the position of the industrial robot is fixed, the rotary fixing screw rod 43 rotates on the limiting plate 42, so that the fixing plate 41 is driven to move on the turnover plate 33, the fixing plate 41 moves to fix the position of the industrial robot, and the situation that the position of the industrial robot moves when the industrial robot is used and the subsequent industrial robot is influenced is prevented.

The working principle of the invention is that when the invention is used, two moving motors 114 work simultaneously to drive two moving gears 115 to rotate on tooth grooves 125 on a moving base 111, so as to drive a moving plate 112 to move horizontally on two moving rods 113, the moving plate 112 moves horizontally to drive the position of an industrial robot to move, a rotating motor 122 works to drive a rotating disc 121 to rotate in a rotating groove 124 through four rotating wheels 123, the rotating disc 121 rotates to drive the position of the industrial robot to rotate, so that the industrial robot is used at different positions, a swinging motor 212 works to drive a swinging rod 215 to rotate on a lower swinging seat 214, the swinging rod 215 rotates to drive a swinging disc 211 to swing through three swinging rods 215, the swinging disc 211 swings to drive the position of the industrial robot to swing, a lifting electric cylinder 223 works to drive a lifting disc 224 to move up and down on the swinging disc 211 through two lifting rods 225, thereby the elevating disk 224 reciprocates and drives the position of industrial robot and reciprocates, cooperation position change subassembly 21 work when reciprocating, industrial robot can carry out the change of angle along with position change subassembly 21 and goes up and down, use industrial robot in the position of difference, the electric jar 223 work that goes up and down drives elevating disk 224 and reciprocates on wobble plate 211 through two lifter 225, thereby the elevating disk 224 reciprocates and drives the position of industrial robot and reciprocates, cooperation position change subassembly 21 work when reciprocating, industrial robot can carry out the change of angle along with position change subassembly 21 and goes up and down, use industrial robot in the position of difference.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A movable platform for industrial robots is characterized by comprising a position displacement device (1), an angle change device (2) and a position turnover device (3), the position displacement device (1) comprises a horizontal moving component (11) and a position rotating component (12), the position rotating component (12) is rotationally connected to the moving end of the horizontal moving component (11), the angle changing device (2) is positioned on the rotating end of the position rotating component (12), the angle change device (2) comprises a position change component (21) and a position lifting component (22), the position change component (21) is positioned on the position rotating component (12), the position lifting component (22) is positioned on the position change component (21) and the position lifting component (22) is in sliding fit with the position change component (21), the position overturning device (3) is positioned on the position lifting assembly (22); the horizontal moving assembly (11) comprises a moving base (111), a moving plate (112), two moving rods (113), two moving motors (114) and two moving gears (115), the moving base (111) is horizontally arranged, the two moving rods (113) are symmetrically arranged on the moving base (111), the moving plate (112) is in sliding fit with the two moving rods (113), the moving plate (112) is in sliding fit with the moving base (111), the two moving motors (114) are symmetrically arranged at the bottom of the moving plate (112), the two moving gears (115) are respectively connected with main shafts of the two moving motors (114), and tooth grooves (125) meshed with the two moving gears (115) are formed in the moving base (111); the position rotating assembly (12) comprises a rotating disc (121), a rotating motor (122) and four rotating wheels (123), a rotating groove (124) is formed in the moving plate (112), the four rotating wheels (123) are circumferentially arranged at the bottom of the rotating disc (121), the four rotating wheels (123) are in sliding fit with the rotating groove (124), the rotating motor (122) is located on the moving plate (112), the rotating motor (122) is vertically arranged upwards, and the rotating disc (121) is rotatably connected to the top of the moving plate (112); the position change assembly (21) comprises a swing disc (211), two swing motors (212), three upper swing seats (213), three lower swing seats (214) and three swing rods (215), the three lower swing seats (214) are circumferentially arranged at the top of the rotating disc (121) at equal intervals, the bottoms of the three swing rods (215) are rotatably connected to the three lower swing seats (214), the three swing rods (215) are rotatably connected to the three upper swing seats (213), the swing disc (211) is horizontally connected to the three upper swing seats (213), the two swing motors (212) are respectively positioned on the two lower swing seats (214), and a main shaft of the swing motor (212) is in transmission connection with the bottoms of the swing rods (215); the position lifting assembly (22) comprises a lower mounting seat (221), an upper mounting seat (222), a lifting electric cylinder (223) and a lifting disc (224), the lower mounting seat (221) is located in the middle of the top of the rotating disc (121), the tail end of the lifting electric cylinder (223) is rotatably connected with the lower mounting seat (221), the upper mounting seat (222) is rotatably connected with the telescopic end of the lifting electric cylinder (223), the lifting disc (224) is fixedly connected with the upper mounting seat (222), two symmetrically-arranged lifting rods (225) are arranged on the lifting disc (224), and the two lifting rods (225) are in sliding fit with the swinging disc (211); the position overturning device (3) comprises an overturning seat (31), a movable electric cylinder (32), an overturning plate (33), an overturning shaft (34), an overturning gear (35), an overturning toothed plate (36) and a connecting plate (37), wherein the overturning seat (31) is vertically arranged at the top of a lifting disc (224), two sliding rods (39) are symmetrically arranged on the overturning seat (31), sliding blocks (38) in sliding fit with the two sliding rods (39) are arranged on the two sliding rods (39), the movable electric cylinder (32) is vertically arranged at the top of the overturning seat (31), the telescopic end of the movable electric cylinder (32) is connected with the top of the sliding blocks (38), the sliding blocks (34) are rotatably connected on the sliding blocks (38), the overturning gear (35) is fixedly connected with the overturning shaft (34), the overturning toothed plate (36) is arranged on the rear wall of the overturning seat (31) and the overturning toothed plate (36) is meshed with the overturning gear (35), the turnover mechanism is characterized in that a sliding groove (391) in sliding fit with the turnover shaft (34) is formed in the turnover seat (31), one end of the connecting plate (37) is rotatably connected with the turnover shaft (34), the other end of the connecting plate (37) is fixedly connected with the sliding block (38), and the turnover plate (33) is fixedly connected with the turnover shaft (34).

2. The mobile platform for an industrial robot of claim 1, wherein: four mounting holes (392) are arranged on the turnover plate (33).

3. The mobile platform for an industrial robot of claim 1, wherein: be equipped with two fixed position subassemblies (4), two on returning face plate (33) fixed position subassembly (4) symmetry sets up on returning face plate (33), every fixed position subassembly (4) all include fixed plate (41), limiting plate (42) and fixation screw (43), limiting plate (42) fixed connection is on returning face plate (33), fixation screw (43) threaded connection is on limiting plate (42), fixed plate (41) are located the one end of fixation screw (43) and with returning face plate (33) sliding fit.