CN212825423U

CN212825423U - Teaching robot

Info

Publication number: CN212825423U
Application number: CN202021907961.8U
Authority: CN
Inventors: 陈捷
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-03
Filing date: 2020-09-03
Publication date: 2021-03-30
Anticipated expiration: 2030-09-03

Abstract

The utility model provides a teaching robot belongs to the teaching aid field, be in including robot and setting drive wheel assembly on the robot, the drive wheel assembly includes mounting panel, anchor clamps and a plurality of drive assembly, drive assembly includes motor and drive wheel, anchor clamps with the motor is all established the mounting panel, the output shaft of motor passes through anchor clamps are fixed, and with the drive wheel is connected, the drive wheel is located the side of mounting panel, anchor clamps with robot is fixed. The output shaft of the motor is fixed through the clamp, so that the stress of the motor output shaft can be effectively improved, the deformation of the motor output shaft can be effectively prevented, the phenomenon that the motor output shaft is blocked after being deformed is avoided, and the driving wheel cannot rotate, so that the normal walking and the use of the teaching robot are influenced.

Description

Teaching robot

Technical Field

The utility model relates to a teaching apparatus technical field particularly, relates to a teaching robot.

Background

Modern intelligent teaching machinery is gradually systematized, and in the teaching and research activities, more and more teaching and research tasks are completed through robots, so that corresponding requirements are also provided for the functions and performance of the teaching and research mechanical trolley.

The existing mechanical teaching and research wheel-driven robot has the advantages that wheels used for walking rotate through power driving, and a driving shaft for connecting a driving device and the wheels is easily stressed by external force to cause deformation of the driving shaft, so that the wheels are blocked, the rotation of the wheels is influenced, and the robot cannot walk smoothly.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a teaching robot can effectively improve the card condition of dying of wheel, makes the robot walk smoothly.

The embodiment of the utility model is realized like this:

the utility model discloses implement and provide a teaching robot, be in including robot and setting drive wheel assembly on the robot, the drive wheel assembly includes mounting panel, anchor clamps and a plurality of drive assembly, drive assembly includes motor and drive wheel, anchor clamps with the motor is all established the mounting panel, the output shaft of motor passes through anchor clamps are fixed, and with the drive wheel is connected, the drive wheel is located the side of mounting panel, anchor clamps with the robot is fixed.

Optionally, the fixture comprises a plurality of fixture plates, through holes are formed in the fixture plates, the fixture plates are arranged side by side so that the through holes are arranged side by side, and an output shaft of the motor sequentially penetrates through the through holes of the fixture plates.

Optionally, two adjacent clamp plates are spaced apart.

Optionally, a plurality of the clamp plates are fixedly connected by a top plate.

Optionally, the electric vehicle further comprises a controller, and the controller is electrically connected with the plurality of motors respectively.

Optionally, the number of the clamps is multiple, and the multiple clamps are arranged in one-to-one correspondence with the motors of the multiple driving assemblies.

Optionally, the robot body includes a base and a moving platform slidably disposed on the base, and the driving wheel assembly is connected to the base through the clamp.

Optionally, a slide rail is arranged on the base, and the mobile platform is connected with the base in a sliding manner through the slide rail.

Optionally, a belt transmission device is arranged on the base and drives the mobile platform to slide on the base.

Optionally, the belt transmission device includes two belt pulleys respectively arranged on the base, a belt connected with the two belt pulleys, and a belt motor connected with the belt pulley, the mobile platform is connected with the belt, and the belt motor is connected with the controller.

The utility model discloses beneficial effect includes:

the embodiment of the utility model provides a teaching robot, including robot and the drive wheel assembly of setting on robot, robot is used for carrying out various teaching tasks, and the drive wheel assembly is used for making robot walking. Wherein, the drive wheel assembly includes the mounting panel, anchor clamps and a plurality of drive assembly, drive assembly includes motor and drive wheel, also be exactly a plurality of motors and a plurality of drive wheel one-to-one, a motor drive rotates rather than a drive wheel that corresponds, anchor clamps and a plurality of motor are all established on the mounting panel, anchor clamps are used for the output shaft of fixed motor, do not make the output shaft of motor unsettled like this, the output shaft for the motor is with the support of direction of gravity, can effectively improve the atress of motor output shaft, can effectively prevent motor output shaft deformation, avoid motor output shaft to warp the dead drive wheel of card, make the unable rotation of drive wheel, thereby influence this teaching robot's normal walking and use.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is one of schematic structural diagrams of a teaching robot provided by an embodiment of the present invention;

fig. 2 is a second schematic structural view of a teaching robot according to an embodiment of the present invention;

fig. 3 is the embodiment of the utility model provides a teaching robot's drive wheel assembly structure sketch map.

Icon: 10-a base; 11-side plate; 12-a transverse plate; 13-a latch assembly; 131-inserting plate; 132-a connecting plate; 15-a slide rail; 20-a mobile platform; 21-a rotating wheel; 31-a drive wheel; 32-a motor; 33-a mounting plate; 34-a clamp; 341-a clamp plate; 342-a top plate; 41-a belt pulley; 42-belt.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

Referring to fig. 1, the present embodiment provides a teaching robot, including a robot body and a driving wheel assembly disposed on the robot body, where the driving wheel assembly includes a mounting plate 33, a clamp 34 and a plurality of driving components, the driving components include motors 32 and driving wheels 31, the clamp 34 and the motors 32 of the plurality of driving components are disposed on the mounting plate 33, output shafts of the plurality of motors 32 are fixed by the clamp 34, an output shaft of each motor 32 is connected with a corresponding driving wheel 31, the driving wheel 31 is disposed on a side surface of the mounting plate 33, and the clamp 34 is fixed to the robot body.

The driving wheel assembly is used as a walking mechanism of the robot body, and the driving wheel 31 is driven to rotate by the motor 32 so as to enable the robot body to walk.

The motors 32 and the driving wheels 31 are in one-to-one correspondence, one motor 32 drives one driving wheel 31 corresponding to one motor to rotate, and the number of the clamps 34 can be one or more. The clamp 34 and the motor 32 are both arranged on the mounting plate 33, and the clamp 34 is used for fixing the output shaft of the motor 32, so that the output shaft of the motor 32 is not suspended, the output shaft of the motor 32 is supported in the gravity direction, the stress of the output shaft of the motor 32 can be effectively improved, and the deformation of the output shaft of the motor 32 is prevented.

Meanwhile, the output shaft of the motor 32 is generally connected with the driving wheel 31 through a bearing, when the driving wheel 31 rotates, the bearing and the bearing sleeve are subjected to the action of gravity perpendicular to the output shaft of the motor 32, and the bearing sleeve are also deformed after the driving wheel 31 runs for a long time. Fix the motor 32 output shaft through anchor clamps 34, make motor 32 output shaft steady rotation, also enable bearing and bearing housing like this and receive the gravity of drive wheel 31 right angle to reduce to minimum, can prevent that bearing and bearing housing from warping, avoid motor 32 output shaft and bearing, bearing housing warp the dead drive wheel 31 of back card, make drive wheel 31 unable rotation to influence this teaching robot's normal walking and use.

The clamp 34 can also integrally fix the motor 32, namely the clamp 34 fixes the output shaft of the motor 32 and the body of the motor 32, and the clamp 34 wraps the whole motor 32, so that the motor 32 is integrally fixed on the mounting plate 33, the motor 32 stably runs, the stress at the joint of the output shaft of the motor 32 and the driving wheel 31 is improved, the deformation of the output shaft of the motor 32 and a bearing is avoided, and the smooth rotation of the driving wheel 31 is ensured.

When the number of the clamps 34 is one, one clamp 34 fixes all the output shafts of the motor 32, and the clamp 34 covers the whole mounting plate 33; when the number of the clamps 34 is plural, the plurality of clamps 34 and the plurality of driving assemblies are arranged in a one-to-one correspondence manner, that is, one clamp 34 fixes an output shaft of one motor 32.

Therefore, the positions of the motors 32 and the clamps 34 can be flexibly arranged, one clamp 34 can fix one output shaft of the motor 32 in a targeted manner, the fixing efficiency and stability can be further ensured, and the situation that the whole teaching robot is affected due to local failure when the output shafts of the motors 32 are integrally fixed by one clamp 34 is avoided.

Robot body and drive wheel assembly pass through anchor clamps 34 to be connected fixedly, and mounting panel 33 is used for bearing anchor clamps 34 and motor 32, and drive wheel 31 is located the side of mounting panel 33, drives the walking of whole teaching robot.

The teaching robot further comprises a controller, the motors 32 are further respectively and electrically connected with the controller, and the motors 32 are automatically controlled to rotate through the controller, so that the driving wheels 31 are controlled to rotate, and the purpose of automatically controlling the teaching robot to walk is achieved.

The control of the controller to the plurality of motors 32 is synchronized, so that each driving wheel 31 can be ensured to rotate synchronously, and the teaching robot can walk stably.

The teaching robot that this embodiment provided, including the robot and set up the drive wheel assembly on the robot, the robot is used for carrying out various teaching tasks, and the drive wheel assembly is used for making the robot walking. Wherein, the drive wheel assembly includes mounting panel 33, anchor clamps 34 and a plurality of drive assembly, drive assembly includes motor 32 and drive wheel 31, namely a plurality of motors 32 and a plurality of drive wheel 31 one-to-one, a motor 32 drive rotates rather than a drive wheel 31 that corresponds, anchor clamps 34 and a plurality of motor 32 are all established on mounting panel 33, anchor clamps 34 are used for the output shaft of fixed motor 32, do not make motor 32's output shaft unsettled like this, give motor 32's output shaft with the support of direction of gravity, can effectively improve the atress of motor 32 output shaft, can effectively prevent motor 32 output shaft deformation, avoid dead drive wheel 31 of card after motor 32 output shaft deformation, make drive wheel 31 unable rotation, thereby influence the normal walking and the use of this teaching robot.

Specifically, the clamp 34 includes a plurality of clamp plates 341, through holes are provided on the clamp plates 341, the plurality of clamp plates 341 are arranged side by side such that the plurality of through holes are arranged side by side, and the output shaft of the motor 32 sequentially passes through the through holes of the plurality of clamp plates 341 to fix the output shaft of the motor 32.

Fixing the output shaft of the motor 32 in the form of the clamp plate 341 is a simpler way, so that the clamp 34 is manufactured with low cost, and the whole teaching robot is made with low cost. Meanwhile, the structure of the simple mode is the most reliable, the output shaft of the motor 32 sequentially penetrates through the plurality of clamp plates 341 to be effectively fixed, the output shaft of the motor 32 is wrapped by the clamp plates 341, the clamp plates 341 support the output shaft of the motor 32, the problem that the output shaft of the motor 32 is suspended when the existing motor 32 is connected is effectively solved, the service life of the output shaft of the motor 32 is prolonged after the stress of the output shaft of the motor 32 is improved, and the effective working time of the motor 32 for driving the driving wheel 31 is prolonged.

Further, two adjacent jig plates 341 are provided at intervals. Therefore, the number of the clamp plates 341 can be reduced, the effective support of the clamp plates 341 on the output shaft of the motor 32 can be ensured, the cost is saved, and the driving wheel assembly can be manufactured more conveniently and rapidly.

As shown in fig. 3, the motor 32 on the left side is supported and fixed by the three clamp plates 341, so that the layout space on the whole mounting plate 33 is more reasonable.

When the plurality of jig plates 341 are provided at intervals, the plurality of jig plates 341 are fixedly connected by the top plate 342. The strength of the plurality of jig plates 341 as a whole is further enhanced, so that the plurality of jig plates 341 can stably fix the output shaft of the motor 32.

The robot body is used as an executing component and comprises a base 10 and a moving platform 20 arranged on the base 10 in a sliding mode, and the driving wheel assembly is connected to the base 10 through a clamp 34.

The base 10 is used for carrying, and the base 10 can form a space frame structure through various components. Illustratively, the base 10 includes two side plates 11 disposed oppositely and a transverse plate 12 disposed between the two side plates 11, and both ends of the transverse plate 12 are connected to the two side plates 11 through a latch assembly 13. Therefore, the base 10 can be disassembled and assembled at any time according to requirements, and is convenient and flexible.

Specifically, the latch assembly 13 includes two insertion plates 131 disposed on the side plate 11, the two insertion plates 131 are connected by a connecting plate 132, and a screw passes through the connecting plate 132 and penetrates through the side plate 11 and the transverse plate 12 to fix the side plate 11 and the transverse plate 12.

The driving wheel assembly is fixedly connected with the base 10 through the clamp 34, the driving wheel assembly is arranged below the base 10, and the movable platform 20 is arranged on the base 10.

The moving platform 20 can slide on the base 10, and a manipulator can be arranged on the moving platform 20, for example, when the teaching robot is required to perform a grabbing task, the controller can automatically control the driving wheel 31 to walk to a target position, and the controller is electrically connected with the driving of the manipulator so as to drive the manipulator to move to complete the grabbing task.

The slidable movement of the movable platform 20 is provided to allow the movable platform 20 to be adjusted in position in a horizontal direction to accommodate a robot to grasp objects in different positions.

As shown in fig. 2, the base 10 is provided with a slide rail 15, the moving platform 20 is provided with a slide groove, and the slide rail 15 is clamped in the slide groove, so that the moving platform 20 is slidably connected to the base 10 through the slide rail 15. The sliding connection is carried out through the sliding grooves and the sliding rails 15, so that the sliding is more stable.

In addition, a belt 42 transmission device is further disposed on the base 10, and the belt 42 transmission device drives the moving platform 20 to slide on the base 10.

Specifically, the belt 42 transmission device includes two belt pulleys 41 respectively disposed on the base 10, a belt 42 connecting the two belt pulleys 41, and a belt motor (not shown) connected to one belt pulley 41, wherein the movable platform 20 is connected to the belt 42, and the belt motor is connected to the controller.

The controller controls the belt motor to rotate, the belt motor drives the belt pulley 41 (driving wheel) connected with the belt motor to rotate, the belt 42 drives the other belt pulley 41 (driven wheel) to rotate, the moving platform 20 can be connected with the belt 42, and the belt 42 drives the moving platform 20 to move on the slide rail 15 when moving.

The belt 42 has good elasticity, and can alleviate impact and vibration during operation, and the motion is smooth and noiseless. The moving platform 20 is driven to slide in a belt 42 transmission mode, so that the moving platform 20 can slide stably, and stable grabbing of the manipulator is guaranteed.

Can set up a plurality of installation hole sites on mobile platform 20 for the component of different functions of installation, in order to realize different functions, make this teaching robot's function comprehensive, application scope is wide, improves the convenience of teaching robot's free equipment, and control mode is relatively independent, easily the show teaching of multiple mode. For example, the above-mentioned robot may be mounted on the moving platform 20 to implement the grabbing function, or as shown in fig. 1, a plurality of rotating wheels 21 may be further disposed on the moving platform 20, and the plurality of rotating wheels 21 are connected by a conveyor belt to implement the conveying function; the movable platform 20 may also be used as a carrying platform for placing articles and the like.

According to the teaching robot, the plurality of clamps 34 are combined to fix the motor 32, so that the right-angle gravity of the bearing on the driving wheel 31 is reduced to the minimum, the stress of the output shaft of the motor 32 is effectively improved, the effective working time of the driving wheel 31 is prolonged, and the teaching robot is guaranteed to walk smoothly; meanwhile, the sliding type mobile platform 20 can be provided with installation positions with multiple purposes, the convenience of free assembly of the teaching robot is improved, the control mode is relatively independent, and multiple modes of display teaching are facilitated.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a teaching robot, its characterized in that is in including robot and setting drive wheel assembly on the robot, drive wheel assembly includes mounting panel, anchor clamps and a plurality of drive assembly, drive assembly includes motor and drive wheel, anchor clamps with the motor is all established the mounting panel, the output shaft of motor passes through anchor clamps are fixed, and with the drive wheel is connected, the drive wheel is located the side of mounting panel, anchor clamps with the robot is fixed.

2. The teaching robot of claim 1, wherein the jig comprises a plurality of jig plates, the jig plates are provided with through holes, the plurality of jig plates are arranged side by side so that the plurality of through holes are arranged side by side, and the output shaft of the motor sequentially passes through the plurality of through holes of the jig plates.

3. An instructional robot as claimed in claim 2 wherein adjacent two of said gripper plates are spaced apart.

4. An instructional robot as claimed in claim 3 wherein a plurality of said gripper plates are fixedly connected by a top plate.

5. The teaching robot of claim 1, further comprising a controller electrically connected to the plurality of motors, respectively.

6. The teaching robot as claimed in any one of claims 1 to 5, wherein the number of said jigs is plural, and a plurality of said jigs are provided in one-to-one correspondence with a plurality of motors of said drive assembly.

7. The teaching robot of claim 5, wherein the robot body comprises a base and a movable platform slidably disposed on the base, and the driving wheel assembly is connected to the base through the clamp.

8. The teaching robot of claim 7, wherein a slide rail is provided on the base, and the mobile platform is slidably connected to the base through the slide rail.

9. The teaching robot of claim 7, wherein a belt transmission is provided on the base, and the belt transmission drives the mobile platform to slide on the base.

10. The teaching robot as claimed in claim 9, wherein the belt driving device includes two belt pulleys respectively disposed on the base, a belt connecting the two belt pulleys, and a belt motor connected to one of the belt pulleys, the moving platform is connected to the belt, and the belt motor is connected to the controller.