CN220128781U - Autonomous moving device of welding robot - Google Patents

Abstract

The utility model discloses an autonomous moving device of a welding robot, and relates to the technical field of welding robots. The utility model comprises a vehicle body, wherein the upper surface of the vehicle body is fixedly connected with a mounting plate, the upper surface of the mounting plate is fixedly provided with a welding robot body, a vision device and a laser ranging device are arranged in the vehicle body, travelling mechanisms are arranged on two sides of the vehicle body, each travelling mechanism comprises a driving mechanism and a crawler mechanism, each driving mechanism comprises a driving wheel and two driven wheels which are symmetrically arranged relative to the driving wheel, the two driven wheels are identical in size, and each crawler mechanism comprises a triangular crawler. According to the utility model, the motor is arranged, the power is transmitted to the driving wheel through the two belt pulleys, the driving wheel drives the triangular caterpillar band to rotate through the cooperation of the clamping teeth and the clamping grooves, so that the two driven wheels can be driven to rotate, the whole device can be finally walked, and the triangular caterpillar band is arranged, so that the device can more easily cross an obstacle and cannot easily sink in uneven terrain.

Description

Autonomous moving device of welding robot

Technical Field

The utility model belongs to the technical field of welding robots, and particularly relates to an autonomous moving device of a welding robot.

Background

The welding robot is an industrial robot for welding (including cutting and spraying), and is generally welded by adopting an industrial six-axis mechanical arm, and the Chinese patent of the utility model with the authorized bulletin number of CN207127421U discloses an autonomous navigation mobile welding robot which comprises an AGV trolley, a mechanical arm and a welding device, wherein the mechanical arm is fixed on the AGV trolley, the welding device comprises an electric welding machine, a wire feeder and a welding gun, the AGV trolley drives the mechanical arm to reach a designated position for welding operation, however, the AGV trolley moves through universal wheels, if unavoidable obstacles are encountered in the moving process, when the obstacles are crossed, if the universal wheels are adopted for moving, the autonomous navigation mobile welding robot is poor in stability, is not easy to cross the obstacles, and meanwhile, the wheels on uneven places are easy to sink.

In order to solve the above problems, the present utility model provides an autonomous moving apparatus of a welding robot.

Disclosure of Invention

The utility model aims to provide an autonomous moving device of a welding robot, which solves the problems that the existing autonomous moving device moves through universal wheels, if unavoidable obstacles are encountered in the moving process, when the welding robot spans the obstacles, if the universal wheels are adopted for moving, the stability is poor, the welding robot cannot easily span the obstacles, and meanwhile, the wheels on uneven terrains are easy to sink.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

the utility model relates to an autonomous moving device of a welding robot, which comprises a vehicle body, wherein the upper surface of the vehicle body is fixedly connected with a mounting plate, the upper surface of the mounting plate is fixedly provided with a welding robot body, a vision device and a laser ranging device are arranged in the vehicle body, travelling mechanisms are arranged on two sides of the vehicle body, each travelling mechanism comprises a driving mechanism and a crawler mechanism, each driving mechanism comprises a driving wheel and two driven wheels which are symmetrically arranged relative to the driving wheel, the two driven wheels are identical in size, each crawler mechanism comprises a triangular crawler, a plurality of clamping teeth which are arranged at equal intervals are fixedly connected on the inner peripheral side surface of each triangular crawler, and clamping grooves matched with the clamping teeth are formed in the peripheral side surfaces of each driving wheel and each driven wheel.

Preferably, the driving mechanism further comprises a motor, the motor is fixedly mounted on the inner peripheral surface of the vehicle body, the output end of the motor is fixedly connected with a connecting shaft, the peripheral side surface of the connecting shaft is fixedly connected with a first belt pulley, the peripheral side surface of the first belt pulley is connected with a second belt pulley through transmission of a transmission belt, the inner part of the second belt pulley is fixedly connected with a driving shaft, the peripheral side surface of the driving shaft is fixedly connected with a driving wheel, and the inner part of the driven wheel is fixedly connected with a driven shaft.

Preferably, the both sides of triangle track are provided with interior backup pad and outer backup pad respectively, interior backup pad a side fixedly connected with support.

Preferably, the cross-sectional area of the triangular caterpillar band is in an obtuse triangle shape, and the size of the driving wheel is larger than that of the two driven wheels.

Preferably, the outer peripheral surface of the triangular crawler belt is fixedly connected with a plurality of equidistant anti-slip teeth.

Preferably, the vision device is a camera, and the laser ranging device is a laser radar.

The utility model has the following beneficial effects:

1. according to the utility model, the motor is arranged, the power is transmitted to the driving wheel through the two belt pulleys, the driving wheel drives the triangular caterpillar band to rotate through the cooperation of the clamping teeth and the clamping grooves, so that the two driven wheels can be driven to rotate, the whole device can be finally walked, and the triangular caterpillar band is arranged, so that the device can more easily cross an obstacle and cannot easily sink in uneven terrain.

2. According to the utility model, the triangular crawler belt is provided with the shape of the obtuse triangle, so that the walking is more stable compared with the existing equilateral triangle crawler belt and acute triangle crawler belt, and the friction between the triangular crawler belt and the walking ground can be increased by matching with the arrangement of the anti-skid teeth, so that the walking stability of the device is further improved.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic diagram of the overall structure of FIG. 1 in side view according to the present utility model;

FIG. 3 is a schematic view of the vehicle body structure of the present utility model;

FIG. 4 is an enlarged view of a portion of the structure of FIG. 3A in accordance with the present utility model;

fig. 5 is an enlarged view of a partial structure at B in fig. 3 according to the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

1. a vehicle body; 2. a mounting plate; 21. a camera; 22. a laser radar; 3. welding a robot body; 4. a motor; 41. a first pulley; 42. a drive belt; 43. a second pulley; 44. a drive shaft; 5. a driving wheel; 6. triangular caterpillar band; 61. latch teeth; 62. anti-slip teeth; 7. a driven shaft; 71. driven wheel; 72. a clamping groove; 8. an inner support plate; 81. a bracket; 82. an outer support plate.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "upper," "middle," "outer," "inner," and the like indicate an orientation or a positional relationship, and are merely for convenience of describing the present utility model and simplifying the description, but do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Embodiment one:

referring to fig. 1-5, the utility model discloses an autonomous moving device of a welding robot, which comprises a vehicle body 1, wherein a mounting plate 2 is fixedly connected to the upper surface of the vehicle body 1, a welding robot body 3 is fixedly arranged on the upper surface of the mounting plate 2, a vision device and a laser ranging device are arranged in the vehicle body 1, the vision device and the laser ranging device are used for path planning, tracking and obstacle avoidance, travelling mechanisms are arranged on two sides of the vehicle body 1, each travelling mechanism comprises a driving mechanism and a track mechanism, each driving mechanism comprises a driving wheel 5 and two driven wheels 71 symmetrically arranged relative to the driving wheel 5, the two driven wheels 71 are identical in size, each track mechanism comprises a triangular track 6, a plurality of clamping teeth 61 which are arranged at equal intervals are fixedly connected to the inner peripheral side surfaces of the triangular track 6, and clamping grooves 72 matched with the clamping teeth 61 are formed in the peripheral side surfaces of the driving wheel 5 and the two driven wheels 71.

The driving mechanism further comprises a motor 4, the motor 4 is fixedly arranged on the inner peripheral surface of the vehicle body 1, the output end of the motor 4 is fixedly connected with a connecting shaft, the peripheral side surface of the connecting shaft is fixedly connected with a first belt pulley 41, the peripheral side surface of the first belt pulley 41 is in transmission connection with a second belt pulley 43 through a transmission belt 42, the inside of the second belt pulley 43 is fixedly connected with a driving shaft 44, the peripheral side surface of the driving shaft 44 is fixedly connected with a driving wheel 5, and the inside of a driven wheel 71 is fixedly connected with a driven shaft 7.

Through setting up motor 4, motor 4 passes through two belt pulleys and gives action wheel 5 with power transmission, and action wheel 5 passes through the cooperation of latch 61 and draw-in groove 72, drives triangle track 6 and rotates, and then can drive two from driving wheel 71 and rotate, finally can realize the walking of whole device, and the setting of triangle track 6 can make this device can not sink in uneven topography easily when crossing over the barrier more.

The both sides of triangle track 6 are provided with interior backup pad 8 and outer backup pad 82 respectively, and interior backup pad 8 side fixedly connected with support 81, and support 81 is used for supporting drive shaft 44 and driven shaft 7 for drive shaft 44 and driven shaft 7 can be with power transmission, and can prevent the inside entering foreign matter of triangle track 6, influence the walking of triangle track 6.

The vision device is a camera 21, the camera 21 is preferably a binocular camera, and the laser ranging device is a laser radar 22.

Embodiment two:

the cross section area of the triangular crawler belt 6 is in an obtuse triangle shape, the size of the driving wheel 5 is larger than that of the two driven wheels 71, and a plurality of equidistant anti-slip teeth 62 are fixedly connected to the outer peripheral surface of the triangular crawler belt 6.

In this embodiment, the shape of triangle track 6 is obtuse triangle, is isosceles triangle simultaneously also, compares current equilateral triangle track and acute triangle track, and the walking is more stable, and the setting of cooperation antiskid tooth 62 can increase the frictional force between triangle track 6 and the walking ground, further promotes the stability of this device walking.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims (6)

1. The utility model provides an autonomous moving device of welding robot, includes automobile body (1), fixed surface is connected with mounting panel (2) on automobile body (1), fixed surface installs welding robot body (3) on mounting panel (2), be provided with vision device and laser rangefinder in automobile body (1), its characterized in that: the utility model discloses a car body, including automobile body (1), automobile body (1) both sides all are provided with running gear, running gear includes actuating mechanism and caterpillar fungus mechanism, actuating mechanism includes action wheel (5) and two from driving wheel (71) that set up about action wheel (5) symmetry, two from driving wheel (71) size is the same, caterpillar fungus mechanism includes triangle track (6), triangle track (6) inner periphery side fixedly connected with a plurality of equidistant latch (61) that set up, action wheel (5) and two from driving wheel (71) week side all seted up with latch (61) assorted draw-in groove (72).

2. The autonomous moving device of a welding robot according to claim 1, wherein the driving mechanism further comprises a motor (4), the motor (4) is fixedly mounted on the inner circumferential surface of the vehicle body (1), the output end of the motor (4) is fixedly connected with a connecting shaft, the circumferential side surface of the connecting shaft is fixedly connected with a first belt pulley (41), the circumferential side surface of the first belt pulley (41) is in transmission connection with a second belt pulley (43) through a transmission belt (42), a driving shaft (44) is fixedly connected inside the second belt pulley (43), a driving wheel (5) is fixedly connected on the circumferential side surface of the driving shaft (44), and a driven shaft (7) is fixedly connected inside the driven wheel (71).

3. The autonomous mobile device of a welding robot according to claim 2, characterized in that both sides of said triangular crawler belt (6) are respectively provided with an inner support plate (8) and an outer support plate (82), a side of said inner support plate (8) being fixedly connected with a bracket (81).

4. An autonomous mobile device of a welding robot according to claim 2, characterized in that the cross-sectional area of said triangular track (6) is shaped as an obtuse triangle, the size of said driving wheel (5) being greater than the size of both said driven wheels (71).

5. The autonomous mobile device of a welding robot according to claim 2, characterized in that the outer circumferential surface of said triangular crawler belt (6) is fixedly connected with a plurality of equally spaced anti-slip teeth (62).

6. An autonomous mobile device of a welding robot as claimed in claim 1, characterized in that said vision means are cameras (21) and said laser ranging means are lidar (22).