CN205706939U - Air-cushion type robot moving platform - Google Patents
Air-cushion type robot moving platform Download PDFInfo
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- CN205706939U CN205706939U CN201620383697.XU CN201620383697U CN205706939U CN 205706939 U CN205706939 U CN 205706939U CN 201620383697 U CN201620383697 U CN 201620383697U CN 205706939 U CN205706939 U CN 205706939U
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Abstract
This utility model relates to a kind of air-cushion type robot moving platform, including main platform body, robot, control device, air cushion group and supporting leg, wherein robot and switch board are installed in main platform body, air cushion group is arranged on the lower surface of main platform body, supporting leg and alignment pin and is arranged on main platform body dual-side；Air cushion group includes air cushion, trachea rolling wheel and air cushion controller, under wherein air cushion is positioned at platform main load-bearing district, is distributed near limit, main load-bearing district four, and trachea rolling wheel is fixed on main platform body upper surface, and air cushion controller is arranged on platform.This utility model can be promoted by people and move along any direction, and degree of freedom is high, promotes platform to have only to the least power, prevents robot on platform from carrying weight or excessive the causing of mobile range is toppled.
Description
Technical field
This utility model relates to a kind of Flexible Manufacturing Technology, specifically air-cushion type robot and moves
Moving platform.
Background technology
Mobile robot product, during manufacturing, is sometimes referred to mobile work robot
Position, steady, quick for guaranteeing that it moves, there is higher precision when location, need.
At present, guide tracked robot move mode is mainly used.But
There are the following problems for guide tracked robot move mode: needs ground on the scene to install guide rails of robots additional,
Place is changed big；The movement being only limited on straight line, robot working range is still by bigger restriction；
Guide rail is expensive in high precision, and maintenance cost is high；Movement drags robot cable, limit
Make moving range.
Utility model content
Robot work model is caused for machine artificial guide rail move mode mobile in prior art
Enclosing limited, the high deficiency of guide rail maintenance cost, the technical problems to be solved in the utility model is to carry
For a kind of air-cushion type robot moving platform that can move robot and ensure positioning precision.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
This utility model one air-cushion type robot moving platform, including main platform body, robot,
Controlling device, air cushion group and supporting leg, wherein robot and switch board are installed in main platform body,
Air cushion group is arranged on the lower surface of main platform body, supporting leg and alignment pin and is arranged on main platform body both sides
Limit.
Control device into and out of cable by the cable trunking cabling being installed in main platform body.
Air cushion group includes air cushion, trachea rolling wheel and air cushion controller, and wherein air cushion is positioned at platform
Under main load-bearing district, being distributed near limit, main load-bearing district four, trachea rolling wheel is fixed in main platform body
Surface, air cushion controller is arranged on platform.
This utility model also has ground fixed block and positioning pressuring plate, and it is cast in ground finger
Location is put, and is provided with the location hole supporting with alignment pin in the fixed block of ground；Positioning pressuring plate and ground
Fixed block connects, and clamps the lower end of alignment pin.
Supporting leg and alignment pin are installed on outside air cushion, and supporting leg and alignment pin are lifted by handwheel
Control.
The structure of main platform body is divided into middle main load-bearing district and pair load-bearing district, both sides, and robot passes through
Base is fixed on main load-bearing district, controls device and includes two switch boards and air cushion controller, two
Switch board is located at pair load-bearing district, both sides, and air cushion controller is located between two switch boards.
This utility model has the advantages that and advantage:
1. this utility model is owing to have employed air cushion carrying, can be promoted along arbitrarily by people after inflation
Direction is moved, and degree of freedom is high, can select mobile route, air cushion and ground with situation in ground, visual field
The air film formed, so promoting platform to have only to the least power, can be real under the promotion of people
Existing little scope adjusts mobile.Guardrails of both sides has functioned simultaneously as the function promoting handrail.
2. this utility model is owing to being provided with supporting leg and detent mechanism, and alignment pin is solid with on ground
Determine block to coordinate and can ensure that the precision of position when platform lands, height-adjustable supporting leg,
The operating position of one relative level can be provided to robot on platform；Positioning pressuring plate can play
Topple protection effect, prevent robot on platform from carrying weight or mobile range is excessive to be caused
Topple.
3. this utility model is functionally, it is ensured that platform portable people move to accurately
Fixed position, platform is steady, and adjustable platform level is simple to operate, it is simple to safeguard.
4. in this utility model, supporting leg and alignment pin use handwheel lifting, and pitch is passed through and adjusted,
Ensure on handwheel, to need less power just can drive supporting leg and alignment pin lifting.
5. using modularized design in this utility model, air cushion, supporting leg and detent mechanism are permissible
Dismounting and change, can change air cushion and the supporting leg of different size according to flat top size,
Interchangeability is good, it is easy to installs and is conveniently replaceable and safeguards.
Accompanying drawing explanation
Fig. 1 is the structural representation () of this utility model air-cushion type robot moving platform；
Fig. 2 is the structural representation (two) of this utility model air-cushion type robot moving platform；
Fig. 3 is the bottom view of this utility model air-cushion type robot moving platform；
Fig. 4 is the section of structure of this utility model air-cushion type robot moving platform；
Fig. 5 is workflow diagram of the present utility model.
Wherein, 1 is robot, and 2 is guardrail, and 3 is switch board, and 4 is main platform body, 5
For cable trunking, 6 being trachea rolling wheel, 7 be positioning pressuring plate, 8 is air cushion controller, and 9 is case
Formula base, 10 is alignment pin, and 11 is supporting leg, and 12 is air cushion, and 13 is ground fixed block.
Detailed description of the invention
Below in conjunction with Figure of description, this utility model is further elaborated.
As shown in figures 1-4, this utility model one air-cushion type robot moving platform, including putting down
Platform main body 4, robot 1, control device, air cushion group and supporting leg 11, wherein robot 1
Being installed in main platform body 4 with switch board 3, air cushion group is arranged on the lower surface of main platform body 4,
Supporting leg 11 and alignment pin 10 are arranged on main platform body 4 dual-side；Control device into and out of line
Cable is by cable trunking 5 cabling being installed in main platform body 4.Robot towards with switch board
Towards on the contrary.
In the present embodiment, robot mounting seat is connected into box style substructure by steel welding, across two groups
Girder steel.Box style substructure welds with flat top girder steel.Robot 1 is bolted on box
On base 9, the dimensions of box style substructure 9 can be changed according to different machines people's model；Box
On the load-bearing girder steel in the load-bearing district that base 9 is welded on main platform body 4.
Main platform body shaped steel is welded, and the load-bearing shaped steel wherein supporting robot uses 4
Rectangle shaped steel is welded.The structure of main platform body 4 is divided into middle main load-bearing district and both sides pair to hold
Weight district, controls device and includes that two switch boards and air cushion controller, two switch boards are located at platform
Pair load-bearing district, main body 4 both sides, air cushion controller is located between two switch boards.
Air cushion group includes air cushion 12, trachea rolling wheel 6 and air cushion controller 8, and air cushion 12 is pacified
Being contained on the lower surface of main platform body 4 girder steel, air cushion 12 is positioned under platform main load-bearing district girder steel,
It is distributed near edge, limit, main load-bearing district four.In the present embodiment, air cushion group has 4 air cushions, often
The specified load-bearing of individual air cushion 2 tons.
Supporting leg 11 and alignment pin 10 are installed outside air cushion.Supporting leg 11 and alignment pin 10 use hands
Wheel lifting form.
Trachea rolling wheel 6 is fixed on main platform body 4 upper surface, and air cushion controller 8 is arranged on platform
On.The specification of air cushion 12 can be adjusted according to the weight of main platform body 4, supporting leg 11 and fixed
Position pin 10 is arranged on outside air cushion 12.Supporting leg 11 and alignment pin 10 are bolted flat
Platform main body 4 side.
Also having ground fixed block 13 and positioning pressuring plate 7, it is cast in ground specific bit
Put, ground fixed block 13 is provided with the location hole supporting with alignment pin 10.According to robot 1
The operating position needed, comparison alignment pin 10, determine the casting position of ground fixed block 13；
Positioning pressuring plate 7 can be connected with ground fixed block by bolt, clamps alignment pin 10 lower end.
Supporting leg 11 and alignment pin 10 are installed in main platform body 4 both sides, are positioned at outside air cushion 12
Side, supporting leg 11 and alignment pin 10 carry out elevating control by handwheel.
As it is shown in figure 5, work process of the present utility model is as follows:
Starting the air cushion controller 8 in main platform body 4, air cushion 12 is inflated；
After platform rises, workman promotes platform to assigned work position；
Arrive after specifying station, the alignment pin 10 of platform is directed at determining on ground fixed block 13
Hole, position；
Shake handwheel falls alignment pin；
Air cushion 12 is exitted, and platform lands；
Shake handwheel, falls platform legs 11；
Screwed in place pressing plate 7 and the connecting bolt of ground fixed block 13；
Connect robot 1 and the power supply of switch board 3 thereof；
Robot 1 starts to work on request, and one time platform moving process terminates.
This utility model is further comprising the steps of:
Platform legs 11 judges platform whether level by level indicator after falling, if level, then
Stationary positioned pressing plate 7；Otherwise, continue to adjust supporting leg 11 height, until plateau levels.
This utility model can move to fixing station by band mobile robot, and can guarantee that the most calmly
Position precision, thus extend the reach area of robot, a robot can move to multiple
Station works, and substantially increases robot utilization rate.
Claims (6)
1. an air-cushion type robot moving platform, it is characterised in that: include main platform body,
Robot, control device, air cushion group and supporting leg, wherein robot and switch board are installed on flat
In platform main body, air cushion group is arranged on the lower surface of main platform body, supporting leg and alignment pin and is arranged on flat
Platform main body dual-side.
2. the air-cushion type robot moving platform as described in claim 1, it is characterised in that:
Control device into and out of cable by the cable trunking cabling being installed in main platform body.
3. the air-cushion type robot moving platform as described in claim 1, it is characterised in that:
Air cushion group includes air cushion, trachea rolling wheel and air cushion controller, and wherein air cushion is positioned at platform master and holds
Under weight district, being distributed near limit, main load-bearing district four, trachea rolling wheel is fixed on main platform body upper surface,
Air cushion controller is arranged on platform.
4. the air-cushion type robot moving platform as described in claim 3, it is characterised in that:
Also having ground fixed block and positioning pressuring plate, it is cast in ground appointment position, and ground is solid
Determine block is provided with the location hole supporting with alignment pin；Positioning pressuring plate is connected with ground fixed block, folder
The lower end of pressure alignment pin.
5. the air-cushion type robot moving platform as described in claim 1, it is characterised in that:
Supporting leg and alignment pin are installed on outside air cushion, and supporting leg and alignment pin carry out elevating control by handwheel.
6. the air-cushion type robot moving platform as described in claim 1, it is characterised in that:
The structure of main platform body is divided into middle main load-bearing district and pair load-bearing district, both sides, and robot passes through base
It is fixed on main load-bearing district, controls device and include two switch boards and air cushion controller, two controls
Pair load-bearing district, both sides is located at by cabinet, and air cushion controller is located between two switch boards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620383697.XU CN205706939U (en) | 2016-04-29 | 2016-04-29 | Air-cushion type robot moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620383697.XU CN205706939U (en) | 2016-04-29 | 2016-04-29 | Air-cushion type robot moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205706939U true CN205706939U (en) | 2016-11-23 |
Family
ID=57332789
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620383697.XU Active CN205706939U (en) | 2016-04-29 | 2016-04-29 | Air-cushion type robot moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205706939U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835971A (en) * | 2016-04-29 | 2016-08-10 | 中国航空工业集团公司北京长城航空测控技术研究所 | Air cushion type robot moving platform and control method thereof |
| CN110206963A (en) * | 2019-07-08 | 2019-09-06 | 大成科创基础建设股份有限公司 | Novel pipeline detects robot |
-
2016
- 2016-04-29 CN CN201620383697.XU patent/CN205706939U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835971A (en) * | 2016-04-29 | 2016-08-10 | 中国航空工业集团公司北京长城航空测控技术研究所 | Air cushion type robot moving platform and control method thereof |
| CN110206963A (en) * | 2019-07-08 | 2019-09-06 | 大成科创基础建设股份有限公司 | Novel pipeline detects robot |
| CN110206963B (en) * | 2019-07-08 | 2020-08-18 | 大成科创基础建设股份有限公司 | Novel pipeline detection robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |