CN218398203U

CN218398203U - Industrial robot chassis convenient to remove

Info

Publication number: CN218398203U
Application number: CN202222693123.0U
Authority: CN
Inventors: 李文军
Original assignee: Anhui Zhimary Robot Co ltd
Current assignee: Anhui Zhimary Robot Co ltd
Priority date: 2022-10-13
Filing date: 2022-10-13
Publication date: 2023-01-31
Anticipated expiration: 2032-10-13

Abstract

The utility model provides an industrial robot chassis convenient to remove belongs to the robotechnology field for solve current industrial robot chassis and remove the process and be not nimble enough, use inconvenient technical problem. The lifting device comprises a bottom plate, wherein a plurality of moving wheels are arranged below the bottom plate, each moving wheel comprises a shell fixed below the bottom plate, a central round hole is formed in the bottom of each shell, a rotating column is inserted into each central round hole, a driven gear and a rotating wheel are respectively arranged at the upper end and the lower end of each rotating column, a rotating motor is fixed at the bottom of each shell, a driving gear is fixed on an output shaft of the rotating motor, and a lifting mechanism is arranged on each rotating column; the bottom plate of the utility model can move in any direction, and the direction of the bottom plate can not be changed when the bottom plate turns, so that the moving flexibility of the industrial robot can be improved; the bottom plate cannot shake or move when the direction of the rotating wheel is changed, and the stability of the bottom plate is high; can set up industrial robot's center at the mounting panel inboard, prevent that the bottom plate from rocking.

Description

Industrial robot chassis convenient to remove

Technical Field

The utility model belongs to the technical field of the robot, a robot chassis is related to, especially an industrial robot chassis convenient to remove.

Background

An industrial robot is defined as "its manipulator is automatically controlled, reprogrammable, versatile, and can program more than 3 axes. It may be stationary or mobile. In industrial automation applications. A manipulator is also defined as a machine, the mechanism of which is usually composed of a series of elements hinged or sliding with respect to each other. It usually has several degrees of freedom to grab or move objects. "so for an industrial robot can be understood: a mechatronic device that simulates the functions of an arm, a wrist, and a hand; it can move any object or tool according to the time-varying requirement of space pose, so as to meet the operation requirement of industrial production. Such as clamping welding tongs or a welding gun, and performing spot welding or arc welding on the automobile or motorcycle body; carrying die-cast or punch-formed parts or components; carrying out laser cutting; spraying; assembling mechanical parts, etc.

At present, industrial robots used on a large scale are provided with movable chassis, so that the robots can move conveniently, but the chassis of the industrial robots need to rotate firstly and then can move when turning, the moving direction is not flexible enough, and the industrial robots carrying above the chassis in the moving process can turn, cannot be freely selected according to needs, and are inconvenient to use.

Based on this, we have designed an industrial robot chassis that is easy to move.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having above-mentioned problem to current technique, provided an industrial robot chassis convenient to remove, the technical problem that the device will solve is: how to improve the removal flexibility of industrial robot chassis, make things convenient for operating personnel to use.

The purpose of the utility model can be realized by the following technical proposal:

the utility model provides an industrial robot chassis convenient to remove, comprising a base plate, the below intermediate position of bottom plate is fixed with the controller, and the below of bottom plate is provided with the removal wheel of a plurality of equidistant distributions, remove the wheel including fixing the casing at the bottom plate lower surface, central round hole and through-hole have been seted up to the bottom of casing, it rotates the post to insert in the central round hole, the upper end of rotating the post is fixed with driven gear, the lower extreme of rotating the post is installed and is rotated the wheel, and the side of rotating the post is fixed with the mobile motor who is used for the drive to rotate the wheel, the bottom of casing still is fixed with the rotating electrical machines, and the output shaft of rotating electrical machines passes the through-hole, its end fixing has the driving gear with driven gear intermeshing, be equipped with the elevating system who is used for promoting to rotate the wheel on the rotation post.

The lifting mechanism comprises two lifting cylinders, two fixing plates and two lifting rings, the two fixing plates are fixed on two sides of the rotating column respectively, the two lifting cylinders are fixed on the two fixing plates respectively, the lifting ring sliding sleeve is arranged on the outer side of the rotating column, an anti-skidding assembly is arranged between the upper surface of each lifting ring and the shell, and the upper end of each lifting cylinder is fixedly connected with the lower surface of each lifting ring.

Structure more than adopting, the industrial robot's of bottom plate and its top delivery weight passes through the casing and acts on the lift ring, provide the holding power by a plurality of lift cylinders, when lift cylinder shrink in one of them part removal wheel, the lift ring is for rotating the post downstream, should remove the wheel no longer the bearing this moment, the rotating electrical machines can drive the rotation post through driving gear and driven gear and rotate, and then change the direction of rotating the wheel, and it is less with ground frictional force to rotate the wheel this moment, the change of rotating the wheel direction can not exert an influence to the bottom plate, the stability of bottom plate has been improved.

The anti-skidding assembly is including fixing a plurality of antislip strips in the casing bottom, and a plurality of antislip strip circumference equipartitions are in the outside of center round hole, and the upper end of lift ring is fixed with the anti-skidding rubber ring, and the anti-skidding rubber ring offsets with a plurality of antislip strips, and the lift ring inboard is fixed with spacing sand grip, the outside of rotation post offer with spacing sand grip assorted spacing recess.

Structure more than adopting, spacing recess and spacing sand grip can prevent to take place relative rotation between lifting ring and the rotation post, can prevent when antislip strip and antiskid rubber ring support each other tightly that the post from taking place to rotate, further improve the chassis and remove the stability of in-process.

The lifting mechanism further comprises a spring and a top plate, the spring is sleeved on the rotating column, two ends of the spring are respectively abutted to the driven gear and the shell, the top plate is fixed to the lower surface of the bottom plate, and the top plate is located right above the driven gear.

Structure more than adopting, when lift cylinder shrink, the spring can upwards promote driven gear for rotate the post and rotate the wheel liftoff, when driven gear and roof contact, the separation of anti-skidding rubber ring and antislip strip, the resistance that the rotation of rotating the post received this moment is less, can select the less rotating electrical machines of power, reduce cost.

The mounting plate is fixed above the bottom plate, a plurality of mounting holes used for fixing the industrial robot are formed in the mounting plate, and the mounting holes are evenly distributed on the periphery.

By adopting the structure, an operator can conveniently install the industrial robot, and the center of the industrial robot can be arranged on the inner side of the mounting plate, so that the stability of the chassis during moving is improved.

Compared with the prior art, this industrial robot chassis convenient to remove has following advantage:

1. through controller, rotation post, rotating electrical machines, moving electrical machines and elevating system, the bottom plate can remove in arbitrary direction, also can not change the orientation when the turn, can improve industrial robot's removal flexibility, makes things convenient for industrial robot's transfer and use.

2. Through elevating system, can not cause rocking and the removal of bottom plate when changing the direction of rolling wheel, the industrial robot's of bottom plate and its top stability when having improved the redirecting.

3. Through mounting panel and mounting hole, make things convenient for operating personnel to install industrial robot, can set up industrial robot's center in the mounting panel inboard moreover, improve the stability when the chassis removes.

Drawings

Fig. 1 is a schematic view of an upper shaft side three-dimensional structure of the present invention;

FIG. 2 is a schematic view of a lower shaft side three-dimensional structure of the present invention;

FIG. 3 is a schematic structural view of the present invention, wherein the shell is detached from the bottom plate;

fig. 4 is a schematic structural view of the interior of the housing of the present invention;

FIG. 5 is a schematic structural view of the bottom of the middle case of the present invention;

fig. 6 is a schematic structural view of the middle rotating column and the lifting mechanism of the present invention.

In the figure: 1. a base plate; 2. a controller; 3. a housing; 4. a central circular hole; 5. a through hole; 6. rotating the column; 7. a driven gear; 8. a rotating wheel; 9. a moving motor; 10. a rotating electric machine; 11. a driving gear; 12. a lifting mechanism; 1201. a lifting ring; 1202. a fixing plate; 1203. a lifting cylinder; 1204. a spring; 1205. a top plate; 13. an anti-slip assembly; 1301. anti-slip strips; 1302. an anti-slip rubber ring; 1303. a limiting groove; 1304. limiting convex strips; 14. mounting a plate; 15. and (7) installing holes.

Detailed Description

The technical solution of the present patent will be described in further detail with reference to the following embodiments.

Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.

In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.

In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.

Referring to fig. 1-6, the embodiment provides an industrial robot chassis convenient to move, including a bottom plate 1, a controller 2 is fixed at a middle position below the bottom plate 1, a plurality of moving wheels are arranged below the bottom plate 1 and distributed at equal intervals, each moving wheel includes a housing 3 fixed on a lower surface of the bottom plate 1, a central circular hole 4 and a through hole 5 are formed in the bottom of the housing 3, a rotating column 6 is inserted into the central circular hole 4, a driven gear 7 is fixed at an upper end of the rotating column 6, a rotating wheel 8 is installed at a lower end of the rotating column 6, a moving motor 9 for driving the rotating wheel 8 is fixed at a side end of the rotating column 6, a rotating motor 10 is further fixed at the bottom of the housing 3, an output shaft of the rotating motor 10 penetrates through the through hole 5, a driving gear 11 meshed with the driven gear 7 is fixed at an end portion of the output shaft, and a lifting mechanism 12 for lifting the rotating wheel 8 is arranged on the rotating column 6.

The lifting mechanism 12 comprises two lifting cylinders 1203, two fixing plates 1202 and a lifting ring 1201, the two fixing plates 1202 are respectively fixed on two sides of the rotating column 6, the two lifting cylinders 1203 are two, the two lifting cylinders 1203 are respectively fixed on the two fixing plates 1202, the lifting ring 1201 is slidably sleeved on the outer side of the rotating column 6, an anti-skidding component 13 is arranged between the upper surface of the lifting ring 1201 and the shell 3, and the upper end of the lifting cylinder 1203 is fixedly connected with the lower surface of the lifting ring 1201; the weight of the industrial robot of bottom plate 1 and its upper side delivery passes through the casing 3 and acts on lift ring 1201, provide the holding power by a plurality of lift cylinders 1203, when lift cylinder 1203 shrink in one of them part removal wheel, lift ring 1201 moves down for rotating post 6, this moment should remove the wheel no longer the bearing, rotating electrical machines 10 can drive through driving gear 11 and driven gear 7 and rotate post 6, and then change the direction of rotating wheel 8, and rotating wheel 8 is less with ground frictional force this moment, the change of rotating wheel 8 direction can not exert an influence to bottom plate 1, the stability of bottom plate 1 has been improved.

The anti-slip assembly 13 comprises a plurality of anti-slip strips 1301 fixed at the bottom of the shell 3, the plurality of anti-slip strips 1301 are uniformly distributed on the outer side of the central circular hole 4 along the circumference, an anti-slip rubber ring 1302 is fixed at the upper end of the lifting ring 1201, the anti-slip rubber ring 1302 abuts against the plurality of anti-slip strips 1301, a limiting protruding strip 1304 is fixed on the inner side of the lifting ring 1201, and a limiting groove 1303 matched with the limiting protruding strip 1304 is formed in the outer side of the rotating column 6; spacing recess 1303 and spacing sand grip 1304 can prevent that lift ring 1201 and rotation from taking place relative rotation between the post 6, can prevent to rotate post 6 and take place to rotate when antislip strip 1301 and antiskid rubber ring 1302 support each other tightly, further improve the chassis and remove the stability of in-process.

The lifting mechanism 12 further comprises a spring 1204 and a top plate 1205, the spring 1204 is sleeved on the rotating column 6, two ends of the spring 1204 are respectively abutted against the driven gear 7 and the shell 3, the top plate 1205 is fixed on the lower surface of the bottom plate 1205, and the top plate 1 is located right above the driven gear 7; when the lifting cylinder 1203 contracts, the spring 1204 pushes the driven gear 7 upwards, so that the rotating column 6 and the rotating wheel 8 are separated from the ground, when the driven gear 7 is in contact with the top plate 1205, the anti-skid rubber ring 1302 is separated from the anti-skid strip 1301, the resistance on the rotation of the rotating column 6 is small, the rotating motor 10 with small power can be selected, and the cost is reduced.

An installation plate 14 is fixed above the bottom plate 1, a plurality of installation holes 15 used for fixing the industrial robot are formed in the installation plate 14, and the installation holes 15 are circumferentially and uniformly distributed; make things convenient for operating personnel to install industrial robot, can set up industrial robot's center at the mounting panel 14 inboardly moreover, improve the stability when chassis removes.

In the present embodiment, the above fixing manners are all the most commonly used fixing and connecting manners in the art, such as welding, bolt connection, and the like; the above electrical components such as the controller 2, the moving motor 9, the lifting cylinder 1203, the rotating motor 10 and the like are all prior art products, and can be directly purchased and used in the market, and the detailed description of the specific principle is omitted.

The utility model discloses a theory of operation:

when the moving direction needs to be changed, firstly, when the lifting cylinders 1203 in a part of the moving wheels contract, the lifting ring 1201 moves downwards relative to the rotating column 6, at the moment, the spring 1204 can push the driven gear 7 upwards to enable the rotating column 6 and the rotating wheel 8 to lift off, when the driven gear 7 is in contact with the top plate 1205, the anti-skid rubber ring 1302 is separated from the anti-skid strip 1301, at the moment, the moving wheel does not bear the load any more, the rotating motor 10 can drive the rotating column 6 to rotate through the driving gear 11 and the driven gear 7, the direction of the rotating wheel 8 is changed, at the moment, the friction force between the rotating wheel 8 and the ground is small, the change of the direction of the rotating wheel 8 does not affect the bottom plate 1, the stability of the bottom plate 1 is improved, after the direction is changed, the lifting cylinders 1203 reset, the rotating wheels 8 are attached to the ground and bear the load after the direction is changed, when the anti-skid strip 8 and the anti-skid rubber ring 1302 tightly abut against each other, the rotating column 6 can be prevented from rotating when the direction is tightly abutted against each other, the moving stability of the bottom plate 1 is further improved, the moving stability of the bottom plate can be adjusted, and the chassis can be used flexibly, and the direction can be changed.

Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.

Claims

1. The utility model provides an industrial robot chassis convenient to remove, including bottom plate (1), a serial communication port, the below intermediate position of bottom plate (1) is fixed with controller (2), and the below of bottom plate (1) is provided with a plurality of equidistant distribution's removal wheel, remove the wheel including fixing casing (3) at bottom plate (1) lower surface, central round hole (4) and through-hole (5) have been seted up to the bottom of casing (3), it is equipped with in central round hole (4) and rotates post (6), the upper end of rotating post (6) is fixed with driven gear (7), it installs rotation wheel (8) to rotate the lower extreme of post (6), and the side of rotating post (6) is fixed with moving motor (9) that are used for driving rotation wheel (8), the bottom of casing (3) still is fixed with rotating electrical machines (10), and the output shaft of rotating electrical machines (10) passes through-hole (5), its tip is fixed with driving gear (11) with driven gear (7) intermeshing, be equipped with elevating system (12) that are used for promoting rotation wheel (8) on rotating post (6).

2. The industrial robot chassis convenient to move according to claim 1, wherein the lifting mechanism (12) comprises two lifting cylinders (1203), two fixing plates (1202) and two lifting rings (1201), the two fixing plates (1202) are respectively fixed on two sides of the rotating column (6), the two lifting cylinders (1203) are respectively fixed on the two fixing plates (1202), the lifting rings (1201) are slidably sleeved on the outer side of the rotating column (6), an anti-skid component (13) is arranged between the upper surface of each lifting ring (1201) and the shell (3), and the upper ends of the lifting cylinders (1203) are fixedly connected with the lower surface of each lifting ring (1201).

3. The industrial robot chassis convenient to move as claimed in claim 2, wherein the anti-slip assembly (13) comprises a plurality of anti-slip strips (1301) fixed to the bottom of the housing (3), the anti-slip strips (1301) are circumferentially and uniformly distributed on the outer side of the central circular hole (4), an anti-slip rubber ring (1302) is fixed to the upper end of the lifting ring (1201), the anti-slip rubber ring (1302) abuts against the anti-slip strips (1301), a limiting protruding strip (1304) is fixed to the inner side of the lifting ring (1201), and a limiting groove (1303) matched with the limiting protruding strip (1304) is formed in the outer side of the rotating column (6).

4. The industrial robot chassis convenient to move according to claim 3, characterized in that the lifting mechanism (12) further comprises a spring (1204) and a top plate (1205), the spring (1204) is sleeved on the rotating column (6), two ends of the spring (1204) respectively abut against the driven gear (7) and the housing (3), the top plate (1205) is fixed on the lower surface of the bottom plate (1), and the top plate (1205) is positioned right above the driven gear (7).

5. The industrial robot chassis convenient to move according to claim 1 or 2, characterized in that a mounting plate (14) is fixed above the bottom plate (1), a plurality of mounting holes (15) for fixing the industrial robot are formed in the mounting plate (14), and the mounting holes (15) are uniformly distributed on the circumference.