CN216707553U

CN216707553U - Robot bottom moving structure applied to multi-axis cooperation

Info

Publication number: CN216707553U
Application number: CN202123045245.0U
Authority: CN
Inventors: 周文辉
Original assignee: Suzhou Huiweiteng Intelligent Technology Co ltd
Current assignee: Suzhou Huiweiteng Intelligent Technology Co ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2022-06-10
Anticipated expiration: 2031-12-07

Abstract

The utility model discloses a robot bottom moving structure applied to multi-axis cooperation, and relates to the technical field of robots. The robot bottom moving structure applied to multi-axis cooperation solves the problem that the multi-axis cooperation robot is influenced in normal use due to the fact that wheels are arranged and are often unstable to cause displacement during working.

Description

Robot bottom moving structure applied to multi-axis cooperation

Technical Field

The utility model relates to the technical field of robots, in particular to a robot bottom moving structure applied to multi-axis cooperation.

Background

The bottom base of the multi-axis cooperative robot is provided with wheels to facilitate the movement of the bottom base, but the multi-axis cooperative robot in the prior art has the problem that the normal use of the multi-axis cooperative robot is influenced because the wheels are usually arranged under the condition of unstable fixation and displacement during working, and the bottom moving structure of the multi-axis cooperative robot is provided for solving the problem.

SUMMERY OF THE UTILITY MODEL

In order to achieve the purpose, the utility model provides the following technical scheme: be applied to multiaxis cooperation's robot bottom and remove structure, including the base, the top of base is provided with fixed case, and the top of fixed case sets up the organism, and the top of organism is provided with the robot, and the central point of base puts and has seted up the fixed orifices, and the inner chamber of fixed case is provided with lifting unit, and lifting unit's bottom is provided with the fixed plate, and fixed plate slidable pegs graft in the inner chamber of fixed orifices, and the bottom of fixed plate is provided with the slipmat.

Preferably, the bottom left and right sides of base is provided with the fixing base respectively, and the inner chamber of each fixing base is all fixed to be pegged graft and is connected the bearing, and the inner ring of each connection bearing is all fixed to be pegged graft and is had the column spinner, and both ends fixed mounting respectively has the wheel around each column spinner.

Preferably, the lifting unit is including the motor, the screw rod, the slider, the connecting rod, telescopic link and spacing subassembly, motor fixed mounting is in the one end of fixed case, the output of motor extends to the inner chamber of fixed case, the one end of screw rod is passed through the bearing and is rotated the output of connecting in the inner chamber one side of fixed case, the other end of screw rod passes through shaft coupling locking connection at the output of motor, two sliders are the spiro union respectively in the outer wall left and right sides of screw rod, spacing subassembly sets up the inner chamber top at fixed case, the bottom both sides of spacing subassembly respectively with the top fixed connection of two sliders, four telescopic links set up the inner chamber four corners at fixed case respectively, the outer wall of connecting at two sliders is rotated through the round pin axle respectively to the one end of two connecting rods, the other end of two connecting rods rotates the top left and right sides at the fixed plate through the round pin axle respectively.

Preferably, the limiting assembly comprises a limiting groove and a limiting block, one end of the limiting block is fixedly connected to the top end of the inner cavity of the fixed box, the two limiting grooves are respectively formed in the top ends of the two sliding blocks, and the two limiting grooves are respectively sleeved on the left side and the right side of the outer wall of the limiting block in a sliding mode.

Preferably, the threads on the left side and the right side of the outer wall of the screw rod are oppositely arranged.

Preferably, the inner cavity of the limiting groove and the outer wall of the limiting block are both T-shaped.

Compared with the prior art, the utility model has the beneficial effects that:

firstly, when the device is moved, the device can be pushed, and under the action of the friction force between the ground and the wheels, the wheels can drive the rotating column to rotate under the action of the connecting bearing, so that the movement of the device is realized, and the operation position is convenient to transfer;

secondly, when the robot carries out the operation, the starter motor, make the motor drive the screw rod and rotate, because the screw rod outer wall left and right sides screw thread is relative setting, therefore, when the screw rod is rotatory, can make its outer wall left and right sides produce relative screw thread revolving force, and then make two sliders slide to the central point of screw rod put simultaneously under the limiting displacement of spacing groove and stopper, make two connecting rods promote the fixed plate and descend along the fixed orifices under the limiting displacement of four telescopic links, and then make the slipmat and the ground contact of fixed plate bottom, thereby make the wheel break away from the contact with ground, make the stable fixing of the device in a position, avoid the displacement to appear in the device when the robot carries out the operation, the stability of the device when using has been improved.

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

FIG. 2 is an enlarged view taken at A of FIG. 1 in accordance with the present invention;

fig. 3 is a schematic structural view of the wheel of the present invention.

In the figure: 1. the robot comprises a base, 2, a fixed box, 3, a machine body, 4, a robot, 5, a fixed seat, 6, a connecting bearing, 7, a rotating column, 8, wheels, 9, a motor, 10, a screw rod, 11, a sliding block, 12, a fixed hole, 13, a fixed plate, 14, an anti-slip pad, 15, a connecting rod, 16, a telescopic rod, 17, a limiting groove, 18 and a limiting block.

Detailed Description

Referring to fig. 1-3, the present invention provides a technical solution: be applied to multiaxis collaborative robot bottom and remove structure, including base 1, the top of base 1 is provided with fixed case 2, the top of fixed case 2 is provided with organism 3, the top of organism 3 is provided with robot 4, fixed orifices 12 have been seted up to the central point of base 1, the inner chamber of fixed case 2 is provided with lifting unit, lifting unit's bottom is provided with fixed plate 13, fixed plate 13 slidable pegs graft in the inner chamber of fixed orifices 12, the bottom of fixed plate 13 is provided with slipmat 14, promote fixed plate 13 through lifting unit and descend along fixed orifices 12, and then make slipmat 14 and the ground contact of fixed plate 13 bottom, thereby make wheel 8 break away from the contact with ground, make the stable fixing in a position of the device, avoid the device displacement to appear when robot 4 carries out the operation, the stability of the device when using has been improved.

As preferred scheme, furthermore, the bottom left and right sides of base 1 is provided with fixing base 5 respectively, the inner chamber of each fixing base 5 is all fixed to be pegged graft and is connected bearing 6, each inner ring of connecting bearing 6 is all fixed to be pegged graft and is had the column spinner 7, both ends fixed mounting respectively has wheel 8 around each column spinner 7, when removing the device, can promote the device, under the effect of friction force between ground and wheel 8, can make wheel 8 drive column spinner 7 rotate under the effect of connecting bearing 6, and then realize the device's removal, conveniently shift the operation position.

As a preferred scheme, furthermore, the lifting assembly comprises a motor 9, a screw rod 10, sliders 11, connecting rods 15, telescopic rods 16 and a limiting assembly, the motor 9 is fixedly installed at one end of the fixed box 2, the output end of the motor 9 extends to the inner cavity of the fixed box 2, one end of the screw rod 10 is rotatably connected to one side of the inner cavity of the fixed box 2 through a bearing, the other end of the screw rod 10 is connected to the output end of the motor 9 through a coupling in a locking manner, the two sliders 11 are respectively screwed on the left side and the right side of the outer wall of the screw rod 10, the limiting assembly is arranged at the top end of the inner cavity of the fixed box 2, both sides of the bottom end of the limiting assembly are respectively fixedly connected to the top ends of the two sliders 11, the four telescopic rods 16 are respectively arranged at four corners of the inner cavity of the fixed box 2, one ends of the two connecting rods 15 are respectively rotatably connected to the outer walls of the two sliders 11 through pin shafts, the other ends of the two connecting rods 15 are respectively rotatably connected to the left side and the top end of the fixed plate 13 through pin shafts, when the robot 4 carries out the operation, motor 9 can be started, make motor 9 drive screw rod 10 and rotate, because screw rod 10 outer wall left and right sides screw thread is relative setting, therefore, when screw rod 10 is rotatory, can make its outer wall left and right sides produce relative screw thread revolving force, and then make two sliders 11 slide to the central point of screw rod 10 simultaneously under the limiting displacement of spacing groove 17 and stopper 18, make two connecting rods 15 promote fixed plate 13 and descend along fixed orifices 12 under the limiting displacement of four telescopic links 16, and then make the slipmat 14 of fixed plate 13 bottom contact with ground, thereby make wheel 8 break away from the contact with ground, make the stable fixing of the device in a position, avoid the displacement to appear in the device when the robot 4 carries out the operation, the stability of the device when using has been improved.

As preferred scheme, furthermore, spacing subassembly includes spacing groove 17 and stopper 18, the one end fixed connection of stopper 18 is on the inner chamber top of fixed case 2, two spacing grooves 17 are seted up respectively on the top of two sliders 11, two spacing grooves 17 cup joint in the outer wall left and right sides of stopper 18 slidable respectively, when slider 11 is gliding, can make spacing groove 17 slide along stopper 18, because spacing groove 17 cup joints the outer wall at stopper 18, therefore, under the interact between spacing groove 17 and stopper 18, can avoid slider 11 to follow screw rod 10 and rotate, the stability of the device when using has been improved.

Preferably, the left and right threads of the outer wall of the screw 10 are disposed opposite to each other, and the left and right threads of the outer wall of the screw 10 are disposed opposite to each other, so that when the screw 10 rotates, the left and right threads of the outer wall generate opposite thread rotating forces, and the two sliders 11 slide toward the center of the screw 10 under the limiting action of the limiting groove 17 and the limiting block 18.

As preferred scheme, further, the inner chamber of spacing groove 17 and the outer wall of spacing block 18 all are "T" font, can make the stable cup joint of spacing groove 17 at the outer wall of spacing block 18, avoid spacing groove 17 to break away from the outer wall of spacing block 18, improved spacing subassembly's stability.

The detailed connection means is a technique known in the art, and the following mainly describes the working principle and process, and the specific operation is as follows.

When the device is moved, the device can be pushed, under the action of the friction force between the ground and the wheels 8, the wheels 8 can drive the rotating column 7 to rotate under the action of the connecting bearing 6, so that the device is moved, and the operation position is convenient to transfer;

when the robot 4 carries out the operation, motor 9 can be started, make motor 9 drive screw rod 10 and rotate, because screw rod 10 outer wall left and right sides screw thread is relative setting, therefore, when screw rod 10 is rotatory, can make its outer wall left and right sides produce relative screw thread revolving force, and then make two sliders 11 slide to the central point of screw rod 10 simultaneously under the limiting displacement of spacing groove 17 and stopper 18, make two connecting rods 15 promote fixed plate 13 and descend along fixed orifices 12 under the limiting displacement of four telescopic links 16, and then make the slipmat 14 of fixed plate 13 bottom contact with ground, thereby make wheel 8 break away from the contact with ground, make the stable fixing of the device in a position, avoid the displacement to appear in the device when the robot 4 carries out the operation, the stability of the device when using has been improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. Be applied to multiaxis cooperation robot bottom and remove structure, its characterized in that: including the base, the top of base is provided with the fixed box, and the top of fixed box sets up the organism, and the top of organism is provided with the robot, and the central point of base puts and has seted up the fixed orifices, and the inner chamber of fixed box is provided with lifting unit, and lifting unit's bottom is provided with the fixed plate, and fixed plate slidable pegs graft in the inner chamber of fixed orifices, and the bottom of fixed plate is provided with the slipmat.

2. Robot bottom moving structure for multi-axis collaboration as claimed in claim 1, wherein: the bottom left and right sides of base is provided with the fixing base respectively, and the inner chamber of each fixing base is all fixed to be pegged graft and is connected the bearing, and each inner ring of connecting the bearing is all fixed to be pegged graft and is had the column spinner, and both ends difference fixed mounting has the wheel around each column spinner.

3. Robot bottom moving structure for multi-axis collaboration as claimed in claim 1, wherein: lifting unit is including the motor, the screw rod, the slider, the connecting rod, telescopic link and spacing subassembly, motor fixed mounting is in the one end of fixed case, the output of motor extends to the inner chamber of fixed case, the one end of screw rod is passed through the bearing and is rotated the inner chamber one side of connecting at fixed case, the other end of screw rod passes through the output of shaft coupling locking connection at the motor, two sliders are the spiro union respectively in the outer wall left and right sides of screw rod, spacing subassembly sets up the inner chamber top at fixed case, the bottom both sides of spacing subassembly respectively with the top fixed connection of two sliders, four telescopic links set up the inner chamber four corners at fixed case respectively, the one end of two connecting rods rotates the outer wall of connection at two sliders through the round pin axle respectively, the other end of two connecting rods rotates the top left and right sides at the fixed plate through the round pin axle respectively.

4. Robot bottom moving structure applied to multi-axis collaboration as claimed in claim 3, characterized in that: the limiting assembly comprises a limiting groove and a limiting block, one end of the limiting block is fixedly connected to the top end of the inner cavity of the fixed box, the two limiting grooves are respectively formed in the top ends of the two sliding blocks, and the two limiting grooves are respectively slidably sleeved on the left side and the right side of the outer wall of the limiting block.

5. Robot bottom moving structure applied to multi-axis collaboration as claimed in claim 3, characterized in that: the left and right threads of the outer wall of the screw rod are oppositely arranged.

6. Robot bottom moving structure for multi-axis collaboration as claimed in claim 4, wherein: the inner cavity of the limiting groove and the outer wall of the limiting block are both in a T shape.