CN218052600U - Robot walking shaft - Google Patents

Abstract

The utility model provides a robot walking axle, which comprises a plate body, the plate body top is equipped with the spout along length direction, plate body bottom four corners all is equipped with the universal wheel, plate body bottom position symmetry placed in the middle is equipped with two rotatable gyro wheels, the gyro wheel axial is parallel with plate body length direction, the equal vertical screw rod that is equipped with in plate body top both ends, the screw rod bottom all runs through the plate body and with plate body threaded connection, the screw rod runs through the end and is equipped with the cushion, plate body one side level is equipped with the drive shaft, the drive shaft top penetrates the plate body and with the plate body switching-over, the drive shaft wears the end and is connected with the gyro wheel drive, the user only need slide the drive shaft alright make it at state one and state two between fast switch-over, and rotate under corresponding state the same commentaries on classics and reversal that the drive shaft can control the gyro wheel respectively, thereby control the removal and the turning to of plate body, so that the robot activity radius that sets up on the plate body agrees with more with corresponding operation platform, promote the use of walking axle and experience.

Description

Robot walking shaft

Technical Field

The utility model relates to a walking axle field of robot specifically is a walking axle of robot.

Background

The walking shaft of robot is the ground that an auxiliary industrial robot removed and establishes the track, can enlarge the operation radius of robot, improve the work efficiency of robot, have characteristics such as promotion robot translation rate and assistance-localization real-time, be applicable to the unloading of work piece, welding, assembly, spraying, processes such as inspection, at the in-process of robot and walking shaft installation and debugging, in order to make the movable radius of robot and operation platform agree with more, need remove the locating position of adjustment walking shaft many times usually, but common robot walking shaft is mostly fixed the unable removal of design of putting, be not convenient for the adjustment operation, for this reason the utility model provides a walking shaft of robot to solve the problem that proposes in the above-mentioned background art.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a robot walking axle to the problem that proposes in solving above-mentioned background art.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a robot walking axle, the package rubbing board body, the plate body top is equipped with the spout along length direction, plate body bottom four corners all is equipped with the universal wheel, plate body bottom position symmetry placed in the middle is equipped with two rotatable gyro wheels, the gyro wheel axial is parallel with plate body length direction, the equal vertical screw rod that is equipped with in plate body top both ends, the screw rod bottom all runs through the plate body and with plate body threaded connection, the screw rod runs through the end and is equipped with the cushion, plate body one side level is equipped with the drive shaft, the drive shaft top penetrates the plate body and is connected with the plate body switching, the drive shaft penetrates the end and is connected with the gyro wheel drive, the drive shaft has state one and state two, works as when the drive shaft is in the state one, rotates the gyro wheel syntropy can be ordered about to the drive shaft when the drive shaft is in state two, rotates gyro wheel antiport can be ordered about to the drive shaft.

Preferably, be equipped with the cavity on switch-on drive shaft top along length direction in the organism, rotationally be equipped with pivot one and two pivot two respectively along the drive shaft axial in the cavity, including pivot one and pivot two are all established the drive axle sleeve, a pivot both ends and two outer ends of pivot all are equipped with the spacing groove, be equipped with a plurality of stoppers that can slide with the spacing groove along the axial in the drive shaft, the stopper sets up with two outer end one-to-one in pivot both ends and the pivot respectively, pivot one is connected with left side gyro wheel drive, right side pivot two is connected with right side gyro wheel drive, the adjacent end of pivot two is connected through helical gear transmission.

Preferably, the limiting groove is a tapered groove flaring outwards, and the limiting block is tapered.

Preferably, the transmission chain is arranged between the first rotating shaft and the left side roller and between the second right rotating shaft and the right side roller.

Preferably, the length of the first rotating shaft is larger than the distance between the limiting blocks at the two sides of the first rotating shaft, and the distance between the two outer ends of the second rotating shaft is larger than the distance between the two corresponding limiting blocks.

Preferably, the cushion block is made of rubber.

(III) advantageous effects

The utility model has the advantages that: through set up helical gear transmission between pivot two, make both sides pivot two can link each other and the antiport, user's accessible slip drive shaft makes the drive shaft simultaneously with pivot one and left side pivot two joint or with pivot one and right side pivot two joint, with control pivot one and right side pivot two that are connected with both sides gyro wheel drive respectively with the co-rotation or reversal, thereby drive gyro wheel co-rotation and reversal, realize the translation and the turning to of plate body, so that the user adjusts the putting position of plate body as required, make the robot activity radius that sets up on the plate body agree with more with the operation platform who corresponds, promote walking shaft's use and experience, simultaneously through the vertical screw rod that sets up in plate body both ends and with screw rod threaded connection, make user's accessible rotatory screw rod control screw rod go up and down, thereby drive the cushion and the supplementary plate body location of ground butt of screw rod through end or break away from ground along with the screw rod rising so that the cooperation gyro wheel rotates the removal plate body.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and do not constitute a limitation on the invention, and in the drawings:

fig. 1 is an external view of the present invention;

fig. 2 is a partial cross-sectional view of the present invention;

FIG. 3 is a schematic view of a partial external view of the transmission components of the present invention when the drive shaft is in a first state;

fig. 4 is a schematic partial external view of each transmission component when the driving shaft is in the second state in the present invention;

FIG. 5 shows an enlarged view at A in FIG. 4;

in the figure: the device comprises a plate body 1, universal wheels 2, rollers 3, a screw rod 4, a cushion block 41, a driving shaft 5, a limiting block 51, a first rotating shaft 6, a second rotating shaft 7, a first helical gear 71, a second helical gear 8 and a limiting groove a.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-5, a robot walking shaft, which comprises a plate body 1, the top of the plate body 1 is provided with a chute along the length direction, four corners of the bottom of the plate body 1 are respectively provided with a universal wheel 2, two rotatable rollers 3 are symmetrically arranged at the middle position of the bottom of the plate body 1, the axial direction of each roller 3 is parallel to the length direction of the plate body 1, two ends of the top of the plate body 1 are respectively and vertically provided with a screw rod 4, the bottom of each screw rod 4 is respectively penetrated through the plate body 1 and is in threaded connection with the plate body 1, the penetrating end of each screw rod 4 is provided with a cushion block 41, one side of the plate body 1 is horizontally provided with a driving shaft 5, the top of each driving shaft 5 is penetrated into the plate body 1 and is in connection with the rollers 3, the driving shaft 5 has a first state and a second state, when the driving shaft 5 is in the second state, the driving shaft 5 can drive the rollers 3 to rotate in the same direction, and when the driving shaft 5 is in the second state, the driving shaft 5 can drive the rollers 3 to rotate in the opposite direction.

Specifically, the sliding chute can be in sliding contact with the bottom end of the robot, so that the robot can move on the plate body 1; the driving shaft 5 can slide along the axial direction, and a user can switch between a first state and a second state by sliding the driving shaft 5; the 2 bottom of universal wheel flushes with 3 bottoms of gyro wheel, and the universal wheel 2 that distributes in the four corners can provide the support for plate body 1 to supplementary gyro wheel 3 rolls.

To sum up, the cushion blocks 41 on the two sides are abutted against the ground in a normal state to limit the movement of the plate body 1, when a user needs to move the plate body 1, the screw rods 4 on the two sides are firstly rotated to enable the cushion blocks 41 to move upwards along with the screw rods 4 to be separated from the ground, and at the moment, the roller 3 and the universal wheel 2 are abutted against the ground; when a user needs to translate the plate body 1, the driving shaft 5 is only required to be slid to be switched to the first state, and the driving shaft 5 is rotated to drive the rollers 3 to rotate in the same direction, so that the plate body 1 is driven to translate; when a user needs to rotate the plate body 1, the driving shaft 5 is only needed to be slid to switch to the second state, and the driving shaft 5 is rotated to drive the roller 3 to rotate reversely, so that the plate body 1 is driven to rotate and change the direction; after the placing position of the plate body 1 is adjusted, the user can rotate the screw rod 4 again to drive the cushion block 41 to be abutted against the ground again, so that the plate body 1 can be stably used; the user only needs slide drive shaft 5 alright make its fast switch over between state one and state two, and rotate drive shaft 5 under corresponding the state and can control the same commentaries on classics and the reversal of gyro wheel 3 respectively to control the removal of plate body 1 and turn to, so that adjust the locating place of plate body 1 as required, make the robot activity radius that sets up on the plate body 1 agree with more with the operation platform that corresponds, promote walking shaft's use and experience.

Further, a cavity communicated with the top end of the driving shaft 5 is formed in the plate body 1 along the length direction, a first rotating shaft 6 and two second rotating shafts 7 are respectively and rotatably arranged in the cavity along the axial direction of the driving shaft 5, the first rotating shaft 6 and the second rotating shaft 7 are respectively sleeved with the driving shaft 5, limiting grooves a are respectively formed in the two ends of the first rotating shaft 6 and the outer ends of the second rotating shaft 7, a plurality of limiting blocks 51 capable of being in sliding connection with the limiting grooves a are arranged on the driving shaft 5 along the axial direction, the limiting blocks 51 are respectively arranged in one-to-one correspondence with the two ends of the first rotating shaft 6 and the outer ends of the second rotating shaft 7, the first rotating shaft 6 is in driving connection with the left side roller 3, the second right side rotating shaft 7 is in driving connection with the right side roller 3, and the adjacent end of the second rotating shaft 7 is connected through bevel gear transmission.

Specifically, one end of the second rotating shaft 7 adjacent to the first helical gear 71 is provided with a second helical gear 8, the second helical gear 8 is rotatably arranged between the first helical gears 71 on one side adjacent to the cavity, and the second helical gears 8 are respectively meshed with the first helical gears 71 on two sides; the first rotating shaft 6 and the second rotating shaft 7 on the right side can be respectively in transmission connection with the rotating ends of the corresponding rollers 3 through gears; the 5 one end of drive shaft can set up the gear coaxially, and plate body 1 openly can set up the lead screw with 5 mutually perpendicular of drive shaft, and the lead screw runs through plate body 1 to 5 one sides of drive shaft and with gear engagement, and the user's accessible rotates the lead screw and drives gear revolve to order about drive shaft 5 and rotate, lead screw accessible motor drive, in order to reduce user's operation burden, promote to use and experience.

To sum up, when a user needs to translate the plate body 1, the user only needs to slide the driving shaft 5, so that the limiting blocks 51 located at the right side of the first rotating shaft 6 and the outer ends of the second rotating shaft 7 on the right side respectively slide into the corresponding limiting grooves a, at this time, the limiting block 51 located at the left side of the first rotating shaft 6 is separated from the first rotating shaft 6, the limiting block 51 located at the outer end of the second rotating shaft 7 on the left side is separated from the second rotating shaft 7 on the left side, and the user can synchronously drive the first rotating shaft 6 and the second rotating shaft 7 on the right side to rotate by rotating the driving shaft 5, so that the roller 3 is driven to synchronously rotate, and the plate body 1 is driven to translate; when a user needs to rotate the plate body 1, the user only needs to slide the driving shaft 5 to enable the limiting blocks 51 positioned at the left side of the first rotating shaft 6 and the outer ends of the second rotating shaft 7 on the left side to respectively slide into the corresponding limiting grooves a, at the moment, the limiting block 51 positioned at the right side of the first rotating shaft 6 is separated from the first rotating shaft 6, the limiting block 51 positioned at the outer end of the second rotating shaft 7 on the right side is separated from the second rotating shaft 7 on the right side, the user can synchronously drive the first rotating shaft 6 and the second rotating shaft 7 on the left side to rotate by rotating the driving shaft 5, the second rotating shaft 7 on the left side drives the second rotating shaft 7 on the right side to reversely rotate through the bevel gear, and therefore the idler wheels 3 are synchronously reversely rotated to drive the plate body 1 to rotate; the user only needs operation drive shaft 5, can realize the translation and the rotation of plate body 1 in a flexible way, makes the operation more simple and convenient.

Further, the limiting groove a is a tapered groove flaring outward, and the limiting block 51 is tapered.

Specifically, limiting groove a and limiting block 51's taper design is convenient for adapt to the rotating characteristic of drive shaft 5, reduces the counterpoint degree of difficulty to limiting groove a and limiting block 51 slip joint, limiting block 51 are the silica gel material, and the user of being convenient for through limiting block 51 drive the pivot that corresponds and rotate with increase frictional resistance.

Furthermore, transmission chains are arranged between the first rotating shaft 6 and the left roller 3 and between the second rotating shaft 7 and the right roller 3, the transmission chains have the advantages of high transmission strength, stable transmission and the like, meanwhile, the hole positions of the transmission parts installed on the plate body 1 can be reduced, and the production and processing cost of the plate body 1 is reduced.

Further, the length of the first rotating shaft 6 is greater than the distance between the limiting blocks 51 on the two sides of the first rotating shaft, and the distance between the outer ends of the second rotating shafts 7 is greater than the distance between the two corresponding limiting blocks 51, so that a limiting block 51 is always in sliding connection with the limiting groove a corresponding to the first rotating shaft 6, and a limiting block 51 is always in sliding connection with the limiting groove a corresponding to the second rotating shaft 7, so that the first rotating shaft 6 and the second rotating shaft 7 are effectively prevented from idling, and the limiting block 51 is aligned with the limiting groove a.

Further, the cushion block 41 is made of rubber so as to increase the frictional resistance between the cushion block 41 and the ground and improve the placing stability of the plate body 1.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. 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, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "above … …", "above … …", "above … … upper surface", "above", etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

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

Claims (6)

1. A robot walking shaft, comprising: the plate comprises a plate body (1), wherein a sliding groove is formed in the top of the plate body (1) along the length direction, universal wheels (2) are arranged at four corners of the bottom of the plate body (1), two rotatable rollers (3) are symmetrically arranged at the middle position of the bottom of the plate body (1), the axial directions of the rollers (3) are parallel to the length direction of the plate body (1), screw rods (4) are vertically arranged at two ends of the top of the plate body (1), the bottoms of the screw rods (4) penetrate through the plate body (1) and are in threaded connection with the plate body (1), cushion blocks (41) are arranged at the penetrating ends of the screw rods (4), a driving shaft (5) is horizontally arranged on one side of the plate body (1), the top end of the driving shaft (5) penetrates through the plate body (1) and is in rotary connection with the plate body (1), and the penetrating ends of the driving shaft (5) are in driving connection with the rollers (3);

the driving shaft (5) has a first state and a second state, when the driving shaft (5) is in the first state, the driving shaft (5) is rotated to drive the roller (3) to rotate in the same direction, and when the driving shaft (5) is in the second state, the driving shaft (5) is rotated to drive the roller (3) to rotate in the opposite direction.

2. The robot walking shaft according to claim 1, wherein a cavity communicated with the top end of the driving shaft (5) is formed in the plate body (1) along the length direction, a first rotating shaft (6) and two second rotating shafts (7) are respectively and rotatably arranged in the cavity along the axial direction of the driving shaft (5), the first rotating shaft (6) and the second rotating shafts (7) are respectively sleeved with the driving shaft (5), both ends of the first rotating shaft (6) and the outer ends of the second rotating shaft (7) are respectively provided with a limiting groove (a), the driving shaft (5) is axially provided with a plurality of limiting blocks (51) capable of being in sliding connection with the limiting grooves (a), the limiting blocks (51) are respectively arranged in one-to-one correspondence with both ends of the first rotating shaft (6) and the outer ends of the second rotating shaft (7), the first rotating shaft (6) is in driving connection with the left side roller (3), the second right side rotating shaft (7) is in driving connection with the right side roller (3), and the adjacent ends of the second rotating shaft (7) are in transmission connection through bevel gears.

3. The robot walking shaft according to claim 2, wherein the limiting groove (a) is a tapered groove flaring outward, and the limiting block (51) is tapered.

4. The robot walking shaft according to claim 2, wherein the transmission chain is used between the first rotating shaft (6) and the left roller (3) and between the second right rotating shaft (7) and the right roller (3).

5. The robot walking shaft according to claim 2, wherein the length of the first rotating shaft (6) is greater than the distance between the limiting blocks (51) at the two sides of the first rotating shaft, and the distance between the outer ends of the two second rotating shafts (7) is greater than the distance between the two corresponding limiting blocks (51).

6. A robot walking shaft according to claim 1, characterized in that the pad (41) is made of rubber.

Images