CN217776962U

CN217776962U - Bidirectional supporting device for wheels of manipulator

Info

Publication number: CN217776962U
Application number: CN202222110107.4U
Authority: CN
Inventors: 刘威; 尚英军; 周兵; 赵梅香; 张慧; 张康宁; 李波; 曹安宁; 张果林; 张琳荔
Original assignee: Xi'an Lanshi Heavy Industry Machinery Co ltd
Current assignee: Xi'an Lanshi Heavy Industry Machinery Co ltd
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2022-11-11
Anticipated expiration: 2032-08-11

Abstract

The utility model discloses a bidirectional supporting device for wheels of a manipulator, which comprises a bracket, wherein two connecting seats are welded at the lower part of the bracket, the upper surface of one connecting seat is connected with a roller bearing which is horizontally arranged through an axial pin shaft, and the side wall of the roller bearing which is horizontally arranged is adjacent to the vertical surface of a guide rail to form axial support of the wheels; the side wall of the other connecting seat is connected with a vertically arranged roller bearing through a radial pin shaft, and the side wall of the vertically arranged roller bearing is adjacent to the horizontal plane of the guide rail to form radial support of the wheel; and the top parts of the radial pin shaft and the axial pin shaft are respectively provided with a positioning shaft sleeve, and the radial pin shaft and the axial pin shaft are respectively arranged on the support through screws. The utility model discloses well radial support and axial support have offset the radial force and the axial force that the wheel produced at the walking in-process respectively for wheel walking position is accurate controllable, has guaranteed the stability of manipulator.

Description

Bidirectional supporting device for wheels of manipulator

Technical Field

The utility model relates to a manipulator technical field, specific two-way strutting arrangement of manipulator wheel that says so.

Background

Compared with other walking machines, the manipulator requires higher speed and more precision of each action in the walking process, and for the wheel walking action of the bearing manipulator, in the walking process, due to the change of inertia and gravity center, the axial and radial directions of the wheel inevitably generate axial force and radial force, so that the state of the joint of the wheel tread and the top surface of the track, and the joint of the wheel flange and the side surface of the track can be caused, and in the past, serious side surface abrasion or serious tread abrasion can be generated on the wheel. In machinery with low requirements on walking speed and precision, axial force and radial force of wheels can be counteracted through rims, but in a manipulator with high requirements on walking speed and precision, the existence of the axial force and the radial force of the wheels affects the stability of manipulator control and the walking precision.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a two-way strutting arrangement of manipulator wheel is applied to the manipulator wheel walking position that needs accurate positioning, through axial and radial auxiliary stay when walking to the wheel, offsets the axial force and the radial force of wheel to the accurate control wheel walking action.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a bidirectional supporting device for wheels of a manipulator is arranged on the inner side of a guide rail below four corner ends of a wheel mounting rack of the manipulator and comprises a support arranged on one side of a transition plate of the wheel mounting rack through bolts, two connecting seats are welded on the lower portion of the support, the upper surface of one of the connecting seats is connected with a roller bearing which is horizontally arranged through an axial pin shaft, and the side wall of the roller bearing which is horizontally arranged is adjacent to the vertical surface of the guide rail to form axial support of the wheels; the side wall of the other connecting seat is connected with a vertically arranged roller bearing through a radial pin shaft, and the side wall of the vertically arranged roller bearing is adjacent to the horizontal plane of the guide rail to form radial support of the wheel; and the top parts of the radial pin shaft and the axial pin shaft are respectively provided with a positioning shaft sleeve, and the radial pin shaft and the axial pin shaft are respectively arranged on the support through screws.

Preferably, a plurality of reinforcing ribs are welded on the other side wall of the bracket.

Preferably, the upper part of the bracket is provided with a long round hole, and the bolt penetrates through the long round hole.

Preferably, the connection surface of the transition plate and the support is provided with a plurality of gaskets.

Preferably, a lubricating oil hole connected with an oil cup is arranged in the inner cavities of the radial pin shaft, the axial pin shaft and the connecting seat, and a plug is arranged at the other end of the lubricating oil hole.

Preferably, the bottom of each connecting seat is fixed on a support respectively, and the supports are welded on the outer wall of the support.

The utility model discloses at two mutually perpendicular's of support and the adjacent side wall mounting of guide rail gyro wheel bearing, the gyro wheel bearing's that the level set up lateral wall is adjacent with the vertical face of guide rail, form the axial support of wheel, the gyro wheel bearing's of vertical setting lateral wall is adjacent with the horizontal plane of guide rail, form the radial support of wheel, radial support and axial support have offset radial force and the axial force that the wheel produced at the walking in-process respectively, make wheel walking position accurate controllable, the stability of manipulator has been guaranteed.

The utility model discloses well support passes through the bolt and installs on the cab apron of crossing of wheel installation frame, crosses and sets up the gasket between cab apron and the support outer wall, and the quantity and the thickness of accessible gasket realize the axial support and the regulation of the vertical face interval of guide rail. The utility model discloses set up the several slotted hole on the well support, the mounted position through the bolt realizes the regulation of radial support and guide rail horizontal plane interval.

The utility model discloses the setting of well lubrication hole, oil cup is convenient for add lubricating oil for gyro wheel bearing, guarantees the smooth and easy operation of wheel.

The utility model discloses well roller bearing's mount pad below sets up the support, and the opposite side of support sets up the strengthening rib, has all strengthened the utility model discloses at the atress intensity of wheel operation in-process, guaranteed the even running of wheel.

The utility model discloses compact structure, the installation maintenance of being convenient for, it is not high to the on-the-spot construction and installation requirement, low cost, the practicality is strong.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic structural diagram of the present invention;

FIG. 3 is a schematic view of a radial support mounting;

FIG. 4 is an axial support mounting schematic;

FIG. 5 is a cross-sectional view of the axial support;

FIG. 6 is a cross-sectional view of the radial support;

FIG. 7 is a schematic structural view of a stent;

fig. 8 is a usage state diagram of the present invention;

in the figure: 1. the device comprises a support, 2, bolts, 3, a transition plate, 4, a gasket, 5, screws, 6, a roller bearing, 7, a radial pin shaft, 8, an axial pin shaft, 9, a positioning shaft sleeve, 10, a plug, 11, an oil cup, 12, a connecting seat, 13, a support, 14, a long round hole, 15 and a reinforcing rib.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 8, the bidirectional supporting device for the wheels of the manipulator is installed on the inner side of a guide rail below four corner ends of a wheel mounting rack of the manipulator, and comprises a support 1 installed on one side of a transition plate 3 of the wheel mounting rack through bolts 2, wherein two connecting seats 12 are welded on the lower part of the support 1, the upper surface of one connecting seat 12 is connected with a roller bearing 6 which is horizontally arranged through an axial pin 8, and the side wall of the roller bearing 6 which is horizontally arranged is adjacent to the vertical surface of the guide rail to form axial support of the wheels; the side wall of the other connecting seat 12 is connected with a vertically arranged roller bearing 6 through a radial pin shaft 7, and the side wall of the vertically arranged roller bearing 6 is adjacent to the horizontal plane of the guide rail to form radial support of the wheel; and the top parts of the radial pin shaft 7 and the axial pin shaft 8 are respectively provided with a positioning shaft sleeve 9, and the radial pin shaft 7 and the axial pin shaft 8 are respectively arranged on the support 1 through screws 5.

And a plurality of reinforcing ribs 15 are welded on the other side wall of the bracket 1.

The upper part of the bracket 1 is provided with a long circular hole 14, and the bolt 2 penetrates through the long circular hole 14.

A plurality of gaskets 4 are arranged between the transition plate 3 and the bracket 1.

And lubricating oil holes connected with the oil cup 6 are arranged in the inner cavities of the radial pin shaft 7, the axial pin shaft 8 and the connecting seat 12, and the other end of each lubricating oil hole is provided with a plug 10.

The bottom of each connecting base 12 is fixed on a support 13, and the supports 13 are welded on the outer wall of the bracket 1.

The above are merely preferred examples of the present invention. It should be noted that other equivalent variations and modifications can be made by those skilled in the art in light of the teachings provided herein, and should be considered within the scope of the present invention.

Claims

1. The utility model provides a two-way strutting arrangement of manipulator wheel, this device is installed at the guide rail inboard of four angle ends below of manipulator wheel installation frame, its characterized in that: the wheel mounting device comprises a support (1) which is arranged on one side of a transition plate (3) of a wheel mounting rack through a bolt (2), wherein two connecting seats (12) are welded on the lower part of the support (1), the upper surface of one connecting seat (12) is connected with a horizontally arranged roller bearing (6) through an axial pin shaft (8), and the side wall of the horizontally arranged roller bearing (6) is adjacent to the vertical surface of a guide rail to form axial support of a wheel; the side wall of the other connecting seat (12) is connected with a vertically arranged roller bearing (6) through a radial pin shaft (7), and the side wall of the vertically arranged roller bearing (6) is adjacent to the horizontal plane of the guide rail to form radial support of the wheel; and the top parts of the radial pin shaft (7) and the axial pin shaft (8) are respectively provided with a positioning shaft sleeve (9), and the radial pin shaft (7) and the axial pin shaft (8) are respectively arranged on the bracket (1) through screws (5).

2. The robot wheel bi-directional support device of claim 1, wherein: and a plurality of reinforcing ribs (15) are welded on the other side wall of the support (1).

3. The robot wheel bidirectional supporting device according to claim 1 or 2, characterized in that: the upper part of the bracket (1) is provided with a long round hole (14), and the bolt (2) penetrates through the long round hole (14).

4. The robot wheel bi-directional support device of claim 3, wherein: a plurality of gaskets (4) are arranged between the transition plate (3) and the bracket (1).

5. The robot wheel bi-directional support device of claim 4, wherein: and a lubricating oil hole connected with an oil cup (11) is arranged in the inner cavities of the radial pin shaft (7), the axial pin shaft (8) and the connecting seat (12), and a plug (10) is arranged at the other end of the lubricating oil hole.

6. The robot wheel bi-directional support device of claim 5, wherein: the bottom of each connecting seat (12) is respectively fixed on a support (13), and the supports (13) are welded on the outer wall of the support (1).