CN206937300U - Robot moving platform - Google Patents
Robot moving platform Download PDFInfo
- Publication number
- CN206937300U CN206937300U CN201720578756.3U CN201720578756U CN206937300U CN 206937300 U CN206937300 U CN 206937300U CN 201720578756 U CN201720578756 U CN 201720578756U CN 206937300 U CN206937300 U CN 206937300U
- Authority
- CN
- China
- Prior art keywords
- mounting bracket
- bottom plate
- jointed shaft
- road wheel
- axle sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The utility model discloses a kind of robot moving platform, including bottom plate and road wheel, the road wheel is Mecanum wheel；Also include preceding mounting bracket and rear mounting bracket, the preceding mounting bracket is U-shaped support, and the centre position of preceding mounting bracket is connected with jointed shaft, and axle sleeve is fixed with bottom plate, and the jointed shaft cooperates with axle sleeve；The both sides of preceding mounting bracket connect motor by installing plate, and the output shaft of motor is connected by shaft coupling with road wheel；Mounting bracket is two L-type bearings for being fixed on bottom plate afterwards, behind two motors be arranged on L-type bearing, behind two motors be connected respectively by shaft coupling with two road wheels below.The utility model is exclusively used in Ku Ka robots, and the all-around mobile of Ku Ka robots is realized using Mecanum wheel, by installing jointed shaft effective compensation alignment error additional on chassis, makes installation more efficient and convenient, improves production efficiency.
Description
Technical field
It the utility model is related to a kind of robot, and in particular to a kind of robot moving platform.
Background technology
Ku Ka robots are a kind of six-joint robots, available for material carrying, processing, stacking, spot welding and arc-welding, are related to certainly
The industry-by-industries such as dynamicization, intermetallic composite coating, food and plastics.Conventional mount as its installation of the robot that can be moved freely is big
More bulky dimensions, it is necessary to steering space it is big, therefore in some narrow spaces, robot is often difficult to move freely, and gives
Produce and process the inconvenience brought；And existing understructure is complicated, installation effectiveness is low.
The content of the invention
In view of the shortcomings of the prior art, a kind of storehouse card robot moving platform is now provided, it is simple in construction, it is easily installed, side
Just move, it is applied widely.
To achieve these goals, the utility model provides a kind of robot moving platform, including bottom plate and road wheel, institute
It is Mecanum wheel to state road wheel；Also include preceding mounting bracket and rear mounting bracket, the preceding mounting bracket is U-shaped support, preceding
The centre position of mounting bracket is connected with jointed shaft, and axle sleeve is fixed with bottom plate, and the jointed shaft cooperates with axle sleeve；Preceding peace
The both sides for filling support connect motor by installing plate, and the output shaft of motor is connected by shaft coupling with road wheel；Afterwards
Mounting bracket is two L-type bearings for being fixed on bottom plate, behind two motors be arranged on L-type bearing, behind two drives
Dynamic motor is connected by shaft coupling with two road wheels below respectively.
Diagonally distribute many small disk rollers on the wheel rim of Mecanum wheel, and these angled periphery wheel shafts are a part
Wheel steering force is transformed into above a wheel method phase power, and the direction by respective wheel and speed, is synthesized in any requirement
Direction on resultant force vector, so as to ensure that this platform can move freely through on the direction of final resultant force vector, and
The direction of wheel itself is not changed.Therefore Mecanum wheel is compact-sized, motion is flexible, without turning to space, therefore can make storehouse
Card robot navigates to the optional position of production line；Mounting bracket is directly bolted on bottom plate afterwards, and fore-stock passes through
Jointed shaft is hinged on the front end of bottom plate, so as to the error in effective compensation installation process, ensure Mecanum wheel all the time with ground
Contact.
Further, the axle sleeve is made up of two parts, including T-shaped piece installed in bottom base plate and passes through bolt and T
The connected limited block of type block, one end of jointed shaft through bottom plate and utilize pad through the through hole on T-shaped piece, the other end of jointed shaft
Piece bearing pin is spacing；Limited impression is provided with the limited block, there is projection on jointed shaft, the projection is stuck in the groove of limited block
It is interior.
The preceding mounting bracket can be swung by a small margin around jointed shaft, preceding mounting bracket and bottom plate have it is certain between
Gap, so as to ensure effective swing of U-shaped support, prevent stuck；Jointed shaft limits turning for jointed shaft opposed bottom by limited block
It is dynamic, the movable of jointed shaft is limited by pad bearing pin.
Further, the bottom plate upper end is provided with screwed hole；Bottom plate lower end is fixed with wear rib.Screwed hole is used for and storehouse card
The base of robot is connected；Wear rib prevents bottom plate wear from causing the damage of Ku Ka robots.
The utility model is exclusively used in Ku Ka robots, and the comprehensive shifting of Ku Ka robots is realized using Mecanum wheel
It is dynamic, by installing jointed shaft effective compensation alignment error additional on chassis, make installation more efficient and convenient, improve production efficiency.
Brief description of the drawings
Fig. 1 is the utility model structure diagram；
Fig. 2 is the utility model the opposing party's bit architecture schematic diagram；
In figure：1st, bottom plate；11st, wear rib；2nd, road wheel；3rd, preceding mounting bracket；4th, rear mounting bracket；41st, L-type bearing；
5th, axle sleeve；51st, T-shaped piece；52nd, limited block；6th, installing plate；7th, motor；8th, shaft coupling；9th, jointed shaft.
Embodiment
The utility model is described in further detail below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of robot moving platform, including bottom plate 1 and road wheel 2, the road wheel 2 is wheat
Ke Namu takes turns；Also include preceding mounting bracket 3 and rear mounting bracket 4, the preceding mounting bracket 3 is U-shaped support, preceding mounting bracket 3
Centre position be connected with jointed shaft 9, axle sleeve 5 is fixed with bottom plate 1, the jointed shaft 9 cooperates with axle sleeve 5；Preceding installation
The both sides of support 3 connect motor 7 by installing plate 6, and the output shaft of motor 7 passes through shaft coupling 8 and the phase of road wheel 2
Even；Mounting bracket 4 is two L-type bearings 41 for being fixed on bottom plate afterwards, behind two motors 7 be arranged on L-type bearing 41,
Two motors 7 next are connected by shaft coupling 8 with two road wheels 2 below respectively.
Diagonally distribute many small disk rollers on the wheel rim of Mecanum wheel, and these angled periphery wheel shafts are a part
Wheel steering force is transformed into above a wheel method phase power, and the direction by respective wheel and speed, is synthesized in any requirement
Direction on resultant force vector, so as to ensure that this platform can move freely through on the direction of final resultant force vector, and
The direction of wheel itself is not changed.Therefore Mecanum wheel is compact-sized, motion is flexible, without turning to space, therefore can make storehouse
Card robot navigates to the optional position of production line；Mounting bracket 4 is directly bolted on 1 on bottom plate afterwards, and fore-stock 3 is logical
Cross the front end that jointed shaft 9 is hinged on bottom plate 1, so as to the error in effective compensation installation process, ensure Mecanum wheel all the time with
Ground contacts.
Further, the axle sleeve 5 is made up of two parts, including T-shaped piece 51 installed in the bottom of bottom plate 1 and passes through bolt
With the T-shaped piece of limited block being connected 52, one end of jointed shaft 9 passes through bottom through the through hole on T-shaped piece 51, the other end of jointed shaft 9
Plate 1 is simultaneously spacing using pad bearing pin；Limited impression is provided with the limited block 52, there is projection, the projection card on jointed shaft 9
In the groove of limited block.
The preceding mounting bracket 3 can be swung by a small margin around jointed shaft 9, and preceding mounting bracket 3 has necessarily with bottom plate 1
Gap, so as to ensure effective swing of U-shaped support, prevent stuck；Jointed shaft 9 limits jointed shaft 9 bottom of with respect to by limited block 52
The rotation of plate 1, the movable of jointed shaft is limited by pad bearing pin.
Further, the upper end of bottom plate 1 is provided with screwed hole；The lower end of bottom plate 1 is fixed with wear rib 11.Screwed hole be used for
The base of Ku Ka robots is connected；Wear rib prevents bottom plate wear from causing the damage of Ku Ka robots.
Claims (3)
1. a kind of robot moving platform, including bottom plate (1) and road wheel (2), it is characterised in that the road wheel (2) is wheat
Ke Namu takes turns；Also include preceding mounting bracket (3) and rear mounting bracket (4), the preceding mounting bracket (3) is U-shaped support, preceding installation
The centre position of support (3) is connected with jointed shaft (9), and axle sleeve (5), the jointed shaft (9) and axle sleeve are fixed with bottom plate (1)
(5) cooperate；The both sides of preceding mounting bracket (3) connect motor (7), the output of motor (7) by installing plate (6)
Axle is connected by shaft coupling (8) with road wheel (2)；Mounting bracket (4) is two L-type bearings (41) for being fixed on bottom plate afterwards, after
Two, face motor (7) be arranged on L-type bearing (41) on, behind two motors (7) respectively by shaft coupling (8) with after
Two, face road wheel (2) is connected.
2. robot moving platform as claimed in claim 1, it is characterised in that the axle sleeve (5) is made up of two parts, including
Installed in T-shaped piece (51) of bottom plate (1) bottom and pass through bolt and the T-shaped piece of limited block being connected (52), one end of jointed shaft (9)
Through hole through on T-shaped piece (51), the other end of jointed shaft (9) are through bottom plate (1) and spacing using pad bearing pin；It is described spacing
Limited impression is provided with block (52), there is projection on jointed shaft (9), the projection is stuck in the groove of limited block.
3. robot moving platform as claimed in claim 1 or 2, it is characterised in that bottom plate (1) upper end is provided with screw thread
Hole；Bottom plate (1) lower end is fixed with wear rib (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720578756.3U CN206937300U (en) | 2017-05-23 | 2017-05-23 | Robot moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720578756.3U CN206937300U (en) | 2017-05-23 | 2017-05-23 | Robot moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206937300U true CN206937300U (en) | 2018-01-30 |
Family
ID=61362003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720578756.3U Expired - Fee Related CN206937300U (en) | 2017-05-23 | 2017-05-23 | Robot moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206937300U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339495A (en) * | 2020-11-16 | 2021-02-09 | 杭州重力脚轮科技有限公司 | Combined multidirectional driving wheel |
-
2017
- 2017-05-23 CN CN201720578756.3U patent/CN206937300U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112339495A (en) * | 2020-11-16 | 2021-02-09 | 杭州重力脚轮科技有限公司 | Combined multidirectional driving wheel |
| CN112339495B (en) * | 2020-11-16 | 2021-11-30 | 杭州重力脚轮科技有限公司 | Combined multidirectional driving wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20180523 |