CN110239645B - Robot walking platform - Google Patents
Robot walking platform Download PDFInfo
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- CN110239645B CN110239645B CN201910526456.4A CN201910526456A CN110239645B CN 110239645 B CN110239645 B CN 110239645B CN 201910526456 A CN201910526456 A CN 201910526456A CN 110239645 B CN110239645 B CN 110239645B
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- 230000000712 assembly Effects 0.000 claims abstract description 16
- 238000000429 assembly Methods 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims description 9
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Workshop Equipment, Work Benches, Supports, Or Storage Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot walking platform, which comprises a bearing frame, wherein a walking mechanism is arranged at the bottom of the bearing frame, and a movable workbench assembly is arranged on the bearing frame; the travelling mechanism comprises four height-adjustable directional wheel assemblies and one height-adjustable universal wheel assembly; the two height-adjustable steering wheel assemblies are symmetrically and fixedly connected to the head of the bearing frame and used for longitudinally moving; the other two height-adjustable steering wheel assemblies are symmetrically and fixedly connected to the head of the bearing frame and used for transversely moving; the height-adjustable universal wheel assembly is fixedly connected in the middle of the tail of the bearing frame. The bearing frame of the robot walking platform can be leveled, can advance in any direction horizontally and vertically with high precision, and has the advantages of high feeding precision, small turning radius and strong load capacity.
Description
Technical Field
The invention relates to the field of mechanical automation robots, in particular to a robot walking platform.
Background
In industrial production, a forklift and an articulated arm type manipulator are not separated, and the forklift is mainly used for carrying heavy objects and cannot be used for precise assembly with high precision requirements. The articulated arm type manipulator is flexible, but the stress is concentrated at the joint position, the load is torsional moment, the required driving power is large, the load provided by the tail end is extremely limited due to the limitation of the structure, and the maximum specification is 300KG at present. Mechanical equipment capable of meeting precision and bearing large load is high in cost or huge in size.
Disclosure of Invention
In order to solve the technical problems, the main purpose of the invention is to provide the robot walking platform, wherein the bearing frame of the robot walking platform can be leveled, can advance in any direction horizontally and vertically with high precision, and has strong load capacity.
In order to achieve the above purpose, the present invention adopts the following technical scheme.
The robot walking platform comprises a bearing frame, wherein a travelling mechanism is arranged at the bottom of the bearing frame, and a movable workbench assembly is arranged on the bearing frame; the travelling mechanism comprises four height-adjustable directional wheel assemblies and one height-adjustable universal wheel assembly; the two height-adjustable steering wheel assemblies are symmetrically and fixedly connected to the head of the bearing frame and used for longitudinally moving; the other two height-adjustable steering wheel assemblies are symmetrically and fixedly connected to the head of the bearing frame and used for transversely moving; the height-adjustable universal wheel assembly is fixedly connected in the middle of the tail of the bearing frame.
Further, the height-adjustable steering wheel assembly includes a first wheel carriage and a vertically mounted first elevator; the first wheel frame is provided with a first roller; the first lifter is a worm gear spiral lifter and comprises a first box body, the first box body is fixedly connected with the bearing frame, and a first worm gear which are meshed are arranged in the first box body; the input end of the first worm extends out of the first box body and is connected with a first motor; a first screw hole is formed in the center of the first worm wheel, and a first screw rod is arranged in the first screw hole; the lower end of the first screw rod is fixedly connected with the upper surface of the first wheel carrier; the bearing frame is provided with a vertical guide groove for limiting the rotation of the first wheel frame; and starting the first motor, and driving the first wheel frame to move up and down by the up-and-down movement of the first screw rod.
Further, the height-adjustable universal wheel assembly comprises a second wheel frame, a horizontal mounting plate, a bearing and a vertically mounted second lifter; the second wheel frame is provided with a second roller, and the upper surface of the second wheel frame is provided with a wheel frame installation shaft; the outer ring of the bearing is fixedly connected with the horizontal mounting plate, and the inner ring of the bearing is fixedly connected with the wheel carrier mounting shaft; the second lifter is a worm gear spiral lifter and comprises a second box body, the second box body is fixedly connected with the bearing frame, and a meshed second worm and a second worm gear are arranged in the second box body; the input end of the second worm extends out of the second box body and is connected with a second motor; a second screw hole is formed in the center of the second worm wheel, and a second screw rod is arranged in the second screw hole; the lower end of the second screw rod is fixedly connected with the upper surface of the horizontal mounting plate, a plurality of shoulder screws are vertically arranged on the horizontal mounting plate, and a plurality of guide holes matched with the shoulder screws are formed in the bearing frame; and starting the second motor, and driving the second wheel frame to move up and down by the up-and-down movement of the second screw rod.
Further, the height-adjustable universal wheel assembly comprises a second wheel frame, a horizontal mounting plate, a bearing, a fixed gear, a shoulder screw, a steering motor fixing plate, a steering motor and a vertically-mounted second lifter; the second lifter is a worm gear spiral lifter and comprises a second box body, the second box body is fixedly connected with the bearing frame, and a meshed second worm and a second worm gear are arranged in the second box body; the input end of the second worm extends out of the second box body and is connected with a second motor; a second screw hole is formed in the center of the second worm wheel, and a second screw rod is arranged in the second screw hole; the lower end of the second screw rod is fixedly connected with the upper surface of the horizontal mounting plate; the second wheel carrier is provided with a second roller, the upper surface of the second wheel carrier is provided with a wheel carrier mounting shaft, and the wheel carrier mounting shaft is fixedly connected with the inner ring of the bearing; the fixed gear is fixedly sleeved on the outer ring of the bearing, an outer ring installation screw hole is formed in the fixed gear, a through hole is formed in the horizontal installation plate, a thread section of the shoulder screw rod penetrates through the through hole and is screwed into the outer ring installation screw hole to fixedly connect the horizontal installation plate, and a plurality of guide holes matched with the shoulder screw rods are formed in the bearing frame; the steering motor fixing plate is fixedly sleeved on the wheel carrier mounting shaft, the steering motor is fixedly connected to the lower surface of the steering motor fixing plate, an output shaft of the steering motor extends out of the steering motor fixing plate and is connected with a driving gear, and the driving gear is meshed with the fixing gear; starting the steering motor, and enabling the second wheel frame to rotate around the central shaft of the fixed gear; and starting the second motor, and driving the second wheel frame to move up and down by the up-and-down movement of the second screw rod.
Still further, the second roller includes a hub motor and a tire coated outside the hub motor.
Further, the mobile work table assembly includes an outer gantry and a vertically mounted third elevator; an outer door frame base is fixedly connected to the bottom of the outer door frame, and the outer door frame base is connected with the bearing frame; an inner door frame is connected to the outer door frame in a sliding manner; the inner door frame is provided with a workbench fixing seat, and a workbench is arranged on the workbench fixing seat; the third lifter is a bevel gear spiral lifter and is provided with a third box body, a third screw rod, a third movable nut and a third input shaft, wherein one end of the third screw rod and one end of the third input shaft are respectively provided with a bevel gear and are meshed in the third box body; the third box body is fixedly connected to the outer door frame base, the third movable nut is fixedly connected to the inner door frame, the third screw rod is screwed into the third movable nut, and the other end of the third input shaft is connected with a third motor; and starting the third motor, and driving the inner door frame to move up and down relative to the outer door frame by the up-and-down movement of the third screw rod.
Further, the outer door frame base is connected with the bearing frame; the outer door frame is provided with two parallel outer upright posts and an outer connecting rod connected with the outer upright posts; the inner door frame is provided with two parallel inner upright posts and an inner connecting rod connected with the inner upright posts; a pair of first linear guide rails are respectively arranged on the opposite surfaces of the two outer upright posts, and a plurality of pairs of first sliding blocks matched with the first linear guide rails are respectively arranged on the opposite surfaces of the two inner upright posts; the third box body is fixedly connected with the outer door frame base, the third movable nut is fixedly connected to the inner upright post, and the third screw rod is screwed into the third movable nut.
Further, a second linear guide rail is horizontally arranged on the workbench fixing seat, a plurality of second sliding blocks matched with the second linear guide rail are arranged on the workbench, and the workbench is connected to the workbench fixing seat in a sliding manner; a fourth lifter is transversely arranged on the workbench fixing seat, the fourth lifter is a bevel gear spiral lifter, the fourth lifter is provided with a fourth box body, a fourth screw rod, a fourth movable nut and a fourth input shaft, one end of the fourth screw rod and one end of the fourth input shaft are respectively provided with a bevel gear and meshed in the fourth box body; the first box body is fixedly connected to the workbench fixing seat, the second movable nut is fixedly connected to the workbench, the first lead screw is screwed into the first movable nut, and the other end of the first input shaft is connected with a first motor; and starting the fourth motor, and driving the workbench to horizontally move left and right relative to the workbench fixing seat by the fourth movable nut.
Further, a third linear guide rail is arranged on the opposite surfaces of the two inner upright posts, a plurality of third sliding blocks matched with the third linear guide rail are arranged on the outer side of the workbench fixing seat, and the workbench fixing seat is connected to the inner door frame in a sliding manner; a fifth lifter is vertically and fixedly connected to the inner connecting rod, the fifth lifter is a worm gear spiral lifter, the fifth lifter is provided with a fifth box body, the fifth box body is fixedly connected with the inner connecting rod, and a meshed fifth worm and a fifth worm gear are arranged in the fifth box body; the fifth worm extends out of the fifth box body and is connected with a fifth motor; a fifth screw hole is formed in the center of the fifth worm wheel, and a fifth screw rod is arranged in the fifth screw hole; the upper end of the fifth screw rod is fixedly connected with a chain wheel frame, a chain wheel is mounted on the chain wheel frame, a chain is arranged on the chain wheel frame, one end of the chain is fixedly connected with the inner connecting rod, and the other end of the chain is fixedly connected with the workbench fixing seat; starting the fifth motor, and enabling the fifth screw rod to move up and down to drive the workbench fixing seat to move up and down relative to the inner door frame;
Further, a plurality of fourth sliding blocks are arranged on two sides of the outer portal frame base, a pair of fourth linear guide rails matched with the fourth sliding blocks are arranged on the bearing frame, and the outer portal frame is connected to the bearing frame in a sliding mode; the bearing frame is horizontally and fixedly connected with a sixth lifter, the sixth lifter is a worm gear spiral lifter, the sixth lifter is provided with a sixth box body, the sixth box body is fixedly connected with the bearing frame, and a meshed sixth worm gear are arranged in the sixth box body; the input end of the sixth worm extends out of the sixth box body and is connected with a sixth motor; a sixth screw hole is formed in the center of the sixth worm wheel, and a sixth screw rod is arranged in the sixth screw hole; the front end of the sixth screw rod is fixedly connected with the outer door frame base;
And starting the sixth motor, and driving the outer door frame base to move back and forth relative to the bearing frame by the back and forth movement of the sixth screw rod.
The bearing frame of the robot walking platform can be leveled, can advance in any direction horizontally and vertically with high precision, and has the advantages of high feeding precision, small turning radius and strong load capacity.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a robot walking platform according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of the height adjustable steering wheel assembly of FIG. 1;
FIG. 3 is a schematic perspective view of another view of a robotic walking platform of the present invention and a partial cross-sectional view of a height-adjustable universal wheel assembly;
FIG. 4 is an enlarged view of FIG. 3 at A;
fig. 5 is a perspective view of a height adjustable caster assembly.
In the above figures:
1, a bearing frame; 101a fourth linear guide rail;
2a height adjustable steering wheel assembly; 201 a first wheel carrier; 202 a first elevator; 2021 first box; 2022 a first motor; 2023 first lead screw; 203 a first roller;
3, a height-adjustable universal wheel assembly; 301 a second wheel carrier; 3011 the wheel carrier is installed the axle; 302 a horizontal mounting plate; 3021 shoulder screws; 303 bearings; 304 a second elevator; 3041 a second housing; 3042 a second motor; 3043 a second screw; 305 a second roller; 3051 in-wheel motor; 3052 tire; 306 fixed gears; 307 steering motor fixing plate; 308 steering motor; 309 a drive gear;
4, an outer door frame; 401 an outer gantry base; 4011 a fourth slider; 402 outer posts; 4021 a first linear guide; 403 outer links;
5 an inner door frame; 501 inner columns; 5012 a third linear guide; 502 inner links;
6, a workbench fixing seat; 601 a second linear guide;
7, a workbench;
8, a third lifter; 801 a third tank; 802 a third screw; 803 a third movable nut; 804 a third input shaft; 805 a third motor;
9a fourth lifter; 901 a fourth box; 902 a fourth screw; 903 a fourth input shaft; 904 a fourth motor;
10a fifth elevator; 1001 a fifth box; 1002 a fifth motor; 1003 a fifth screw;
11 chain wheel frames;
12 chain wheels;
13 a chain;
A sixth elevator 14; 1401 a sixth casing; 1402 a sixth motor; 1403 sixth lead screw;
15 auxiliary universal wheels;
16 dual axis tilt sensor.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than those herein described, and those skilled in the art may readily devise numerous other arrangements that do not depart from the spirit of the invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.
Referring to fig. 1 and 3, a robot walking platform comprises a bearing frame 1, wherein a walking mechanism is arranged at the bottom of the bearing frame 1, and a movable workbench assembly is arranged on the bearing frame 1; the travelling mechanism comprises four height-adjustable directional wheel assemblies 2 and one height-adjustable universal wheel assembly 3; the two height-adjustable steering wheel assemblies 2 are symmetrically and fixedly connected to the head of the bearing frame 1 and used for longitudinal movement; the other two height-adjustable steering wheel assemblies 2 are symmetrically and fixedly connected to the head of the bearing frame 1 and used for transverse movement; the height-adjustable universal wheel assembly 3 is fixedly connected in the middle of the tail of the bearing frame 1.
In the above embodiment, two longitudinal height-adjustable directional wheel assemblies 2 and two transverse height-adjustable directional wheel assemblies 2 are installed on the head of the carrier 1, and one height-adjustable universal wheel assembly 3 is installed in the middle of the tail of the carrier 1. When the two longitudinal height-adjustable steering wheel assemblies 2 and the height-adjustable universal wheel assembly 3 land, the robot walking platform can advance and retreat; when the two transverse height-adjustable steering wheel assemblies 2 and the height-adjustable universal wheel assembly 3 land, the robot walking platform can move left and right; the robot walking platform can walk in any direction in a plane, the turning radius is greatly reduced, and the accuracy is higher.
Further, with reference to fig. 1 and 2, the height adjustable steering wheel assembly 2 comprises a first wheel carriage 201 and a vertically mounted first lift 202; the first wheel frame 201 is provided with a first roller 203; the first lifter 202 is a worm gear screw lifter, the first lifter 202 includes a first box 2021, the first box 2021 is fixedly connected with the carrier 1, and a meshed first worm and a first worm gear are arranged in the first box 2021; the input end of the first worm extends out of the first box 2021 and is connected with a first motor 2022; a first screw hole is formed in the center of the first worm wheel, and a first screw rod 2023 is arranged in the first screw hole; the lower end of the first screw rod 2023 is fixedly connected with the upper surface of the first wheel frame 201; the bearing frame 1 is provided with a vertical guide groove for limiting the rotation of the first wheel frame 201; the first motor 2022 is started, and the first screw 2023 moves up and down to drive the first wheel frame 201 to move up and down.
In the above embodiment, the height-adjustable steering wheel assembly 2 is preferably a worm gear screw lifter, the center of the first worm gear is provided with a first screw hole, the first box 2021 is fixed with the bearing frame 1, the first motor 2022 drives the first worm gear to rotate, which is equivalent to fixing and rotating a nut in the screw-nut mechanism, and the screw is limited to rotate, so that the screw can move up and down. In this embodiment, the worm gear corresponds to a nut, the first screw 2023 corresponds to a screw, and the vertical guide groove on the carrier 1 is used to limit the rotation of the first screw 2023.
The height-adjustable directional wheel assembly 2 at the head of the bearing frame 1 and the height-adjustable universal wheel assembly 3 at the tail of the bearing frame 1 form a three-point supporting structure, and can be kept stable on any plane. Of course, in order to prevent the tilting of the robot walking platform caused by the excessive inclination of the ground, two auxiliary universal wheels 15 may be symmetrically arranged at the tail of the carrier 1.
Further, referring to fig. 3 and 4, the height-adjustable universal wheel assembly 3 includes a second wheel frame 301, a horizontal mounting plate 302, bearings 303, and a vertically mounted second elevator 304; a second roller 305 is mounted on the second wheel frame 301, and a wheel frame mounting shaft 3011 is arranged on the upper surface of the second wheel frame 301; the outer ring of the bearing 303 is fixedly connected with the horizontal mounting plate 302, and the inner ring of the bearing 303 is fixedly connected with the wheel carrier mounting shaft 3011; the second lifter 304 is a worm gear screw lifter, the second lifter 304 includes a second box 3041, the second box 3041 is fixedly connected with the carrier 1, and a meshed second worm and a second worm gear are disposed in the second box 3041; the input end of the second worm extends out of the second box 3041 and is connected with a second motor 3042; a second screw hole is formed in the center of the second worm wheel, and a second screw rod 3043 is arranged in the second screw hole; the lower end of the second screw rod 3043 is fixedly connected with the upper surface of the horizontal mounting plate 302, a plurality of shoulder screws 3021 are vertically mounted on the horizontal mounting plate 302, and a plurality of guide holes matched with the shoulder screws 3021 are formed in the bearing frame 1; the second motor 3042 is started, and the second screw 3043 moves up and down to drive the second wheel frame 301 to move up and down.
In the above embodiment, the lifting of the height-adjustable universal wheel assembly 3 also adopts a worm gear screw lifter, and the principle is that the height-adjustable directional wheel assembly 2.
In order to improve the automation level of the robot walking platform and realize accurate control, a double-shaft inclination sensor 16 is arranged on the bearing frame 1, and the double-shaft inclination sensor 16 provides the horizontal inclination of the vehicle body for controlling the height-adjustable directional wheel assembly 2 or the height-adjustable universal wheel assembly 3 to enable the bearing frame 1 to keep horizontal.
Referring to fig. 3 to 5, as another embodiment of the height-adjustable steering wheel assembly 2, the height-adjustable steering wheel assembly 3 includes a second wheel frame 301, a horizontal mounting plate 302, a bearing 303, a fixed gear 306, a shoulder screw 3021, a steering motor fixing plate 307, a steering motor 308, and a vertically mounted second lifter 304; the second lifter 304 is a worm gear screw lifter, the second lifter 304 includes a second box 3041, the second box 3041 is fixedly connected with the carrier 1, and a meshed second worm and a second worm gear are disposed in the second box 3041; the input end of the second worm extends out of the second box 3041 and is connected with a second motor 3042; a second screw hole is formed in the center of the second worm wheel, and a second screw rod 3043 is arranged in the second screw hole; the lower end of the second screw rod 3043 is fixedly connected with the upper surface of the horizontal mounting plate 302; a second roller 305 is mounted on the second wheel frame 301, a wheel frame mounting shaft 3011 is arranged on the upper surface of the second wheel frame 301, and the wheel frame mounting shaft 3011 is fixedly connected with the inner ring of the bearing 303; the fixed gear 306 is tightly sleeved on the outer ring of the bearing 303, an outer ring mounting screw hole is formed in the fixed gear 306, a through hole is formed in the horizontal mounting plate 302, a threaded section of the shoulder screw 3021 penetrates through the through hole and is screwed into the outer ring mounting screw hole to tightly connect the horizontal mounting plate 302, and a plurality of guide holes matched with the shoulder screws 3021 are formed in the bearing frame 1; the steering motor fixing plate 307 is fixedly sleeved on the wheel carrier mounting shaft 3011, the steering motor 308 is fixedly connected to the lower surface of the steering motor fixing plate 307, an output shaft of the steering motor 308 extends out of the steering motor fixing plate 307 and is connected with a driving gear 309, and the driving gear 309 is meshed with the fixing gear 306; activating the steering motor 308, and rotating the second wheel frame 301 around the central shaft of the fixed gear 306; the second motor 3042 is started, and the second screw 3043 moves up and down to drive the second wheel frame 301 to move up and down.
In the above embodiment, the height-adjustable universal wheel assembly 3 can realize both universal rotation and height adjustment. Similarly, in order to improve the automation level of the robot walking platform, precise control is achieved, a dual-axis inclination sensor 16 is installed on the carrier 1, and the dual-axis inclination sensor 16 provides the horizontal inclination of the vehicle body for controlling the height-adjustable directional wheel assembly 2 or the height-adjustable universal wheel assembly 3 to enable the carrier 1 to keep horizontal.
Further, referring to fig. 4, the second roller 305 includes an in-wheel motor 3051 and a tire 3052 wrapped around the in-wheel motor 3051.
In the above embodiment, the second roller 305 includes the in-wheel motor 3051 and the tire 3052, i.e. the height-adjustable universal wheel assembly 3 is used as the driving wheel of the robot walking platform to provide driving force for the forward, backward and steering of the robot walking platform. The hub motor 3051 has high output power efficiency, and the tire 3052 can be made of rubber or polyurethane.
Further, with reference to fig. 1 and 3, the mobile table assembly comprises an outer mast 4 and a vertically mounted third elevator 8; an outer portal base 401 is fixedly connected to the bottom of the outer portal 4, and the outer portal base 401 is connected with the bearing frame 1; an inner door frame 5 is connected to the outer door frame 4 in a sliding manner; a workbench fixing seat 6 is arranged on the inner door frame 5, and a workbench 7 is arranged on the workbench fixing seat 6; the third lifter 8 is a bevel gear spiral lifter, the third lifter 8 is provided with a third box 801, a third screw rod 802, a third movable nut 803 and a third input shaft 804, one end of the third screw rod 802 and one end of the third input shaft 804 are respectively provided with a bevel gear and are meshed in the third box 801; the third box 801 is fixedly connected to the outer gantry base 401, the third movable nut 803 is fixedly connected to the inner gantry 5, the third screw 802 is screwed into the third movable nut 803, and a third motor 805 is connected to the other end of the third input shaft 804; and the third motor 805 is started, and the third screw rod 802 moves up and down to drive the inner door frame 5 to move up and down relative to the outer door frame 4.
In the above embodiment, the outer door frame 4 is connected to the carrier 1 through the outer door frame base 401, the inner door frame 5 is slidably connected to the outer door frame 4, and a third lifter 8 is installed between the inner door frame 5 and the outer door frame 4, and the third lifter 8 is specifically a bevel gear screw lifter. The inner gantry 5 moves up and down relative to the outer gantry 4 by using a screw-nut mechanism, which fixes the screw and restricts the rotation of the nut, so that the nut moves up and down.
Further, referring to fig. 1 and 3, the outer gantry base 401 is connected to the carrier 1; the outer door frame 4 is provided with two parallel outer upright posts 402 and an outer connecting rod 403 connected with the outer upright posts 402; the inner door frame 5 is provided with two parallel inner upright posts 501 and an inner connecting rod 502 connected with the inner upright posts 501; a pair of first linear guide rails 4021 are respectively arranged on the opposite surfaces of the two outer upright posts 402, and a plurality of pairs of first sliding blocks matched with the first linear guide rails 4021 are respectively arranged on the opposite surfaces of the two inner upright posts 501; the third box 801 is fixedly connected with the outer portal frame 401, the third movable nut 803 is fixedly connected to the inner upright post 501, and the third screw rod 802 is screwed into the third movable nut 803.
In the above embodiment, the outer mast 4 preferably has two outer uprights 402, the inner mast 5 has two inner uprights 501, which are connected by a linear guide slider pair, and the up-and-down movement of the inner mast 5 relative to the outer mast 4 is achieved by the third lifter 8. In practice, the robot walking platform can realize a multi-stage lifting mechanism according to the principle according to the requirement.
Further, referring to fig. 1 and 3, the second linear guide rail 601 is horizontally disposed on the table fixing seat 6, the table 7 is provided with a plurality of second sliders matched with the second linear guide rail 601, and the table 7 is slidably connected to the table fixing seat 6; a fourth lifter 9 is transversely installed on the workbench fixing seat 6, the fourth lifter 9 is a bevel gear spiral lifter, the fourth lifter 9 is provided with a fourth box 901, a fourth screw rod 902, a fourth movable nut and a fourth input shaft 903, one end of the fourth screw rod 902 and one end of the fourth input shaft 903 are respectively provided with a bevel gear and are meshed in the fourth box 901; the fourth box 901 is fixedly connected to the workbench fixing seat 6, the second movable nut is fixedly connected to the workbench 7, the fourth screw 902 is screwed into the fourth movable nut, and the other end of the fourth input shaft 903 is connected to a fourth motor 904; the fourth motor 904 is started, and the fourth movable nut drives the workbench 7 to horizontally move left and right relative to the workbench fixing seat 6.
In the above embodiment, the table fixing base 6 is connected with the table 7 through the linear guide slider pair, and the left-right movement of the table 7 with respect to the table fixing base 6 is achieved by transversely installing the fourth lifter 9.
Further, referring to fig. 1 and 3, a third linear guide rail 5012 is disposed on the opposite surface of the two inner upright posts 501, a plurality of third sliding blocks matched with the third linear guide rail 5012 are disposed on the outer side of the table fixing base 6, and the table fixing base 6 is slidably connected to the inner door frame 5; a fifth lifter 10 is vertically and fixedly connected to the inner connecting rod 502, the fifth lifter 10 is a worm gear screw lifter, the fifth lifter 10 is provided with a fifth box 1001, the fifth box 1001 is fixedly connected to the inner connecting rod 502, and a meshed fifth worm and a fifth worm gear are arranged in the fifth box 1001; the fifth worm extends out of the fifth box 1001 and is connected with a fifth motor 1002; a fifth screw hole is formed in the center of the fifth worm wheel, and a fifth screw rod 1003 is arranged in the fifth screw hole; the upper end of the fifth screw 1003 is fixedly connected with a chain wheel frame 11, a chain wheel 12 is installed on the chain wheel frame 11, a chain 13 is erected on the chain wheel 12, one end of the chain 13 is fixedly connected with the inner connecting rod 502, and the other end of the chain 13 is fixedly connected with the workbench fixing seat 6; starting the fifth motor 1002, and driving the fifth screw 1003 to move up and down to drive the workbench fixing base 6 to move up and down relative to the inner door frame 5;
In the above embodiment, the table fixing base 6 is connected with the inner gantry 5 through the linear guide rail slider pair, and the left-right movement of the table 7 relative to the table fixing base 6 is realized through vertically installing the fourth lifter 9. In this embodiment, the sprocket 12 is mounted by a movable pulley mechanism, and the up-and-down movement speed of the table fixing seat 6 is twice that of the sprocket 12 under the driving of the fourth screw 902.
Further, referring to fig. 1 and 3, a plurality of fourth sliding blocks 4011 are disposed on two sides of the outer gantry base 401, a pair of fourth linear guide rails 101 matched with the fourth sliding blocks 4011 are disposed on the carrier 1, and the outer gantry 4 is slidably connected to the carrier 1; a sixth lifter 14 is fixedly connected to the bearing frame 1 horizontally, the sixth lifter 14 is a worm gear screw lifter, the sixth lifter 14 is provided with a sixth box 1401, the sixth box 1401 is fixedly connected to the bearing frame 1, and a meshed sixth worm and a sixth worm gear are arranged in the sixth box 1401; the input end of the sixth worm extends out of the sixth box 1401 and is connected with a sixth motor 1402; a sixth screw hole is formed in the center of the sixth worm wheel, and a sixth screw rod 1403 is arranged in the sixth screw hole; the front end of the sixth screw 1403 is fixedly connected with the outer gantry base 401; the sixth motor 1402 is started, and the sixth lead screw 1403 moves back and forth to drive the outer gantry base 401 to move back and forth relative to the carrier 1.
In the above embodiment, in order to facilitate the adjustment of the center of gravity of the walking platform of the robot, the fixing seat of the outer door frame 4 is connected with the bearing frame 1 through the linear guide rail sliding block pair, and the front-back movement of the outer door frame 4 relative to the bearing frame 1 can be realized through transversely installing the first flow lifter.
The robot walking platform can realize walking in any direction in a plane, and a workbench assembly arranged on the robot walking platform can realize front-back, up-down, left-right precise movement, wherein an inner portal 5 structure is nested in an outer portal 4, so that the workbench assembly can realize two-stage lifting and even multi-stage lifting.
While the invention has been described in detail in this specification with reference to the general description and the specific embodiments thereof, it will be apparent to one skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the scope of the invention as claimed.
Claims (8)
1. The robot walking platform is characterized by comprising a bearing frame (1), wherein a walking mechanism is arranged at the bottom of the bearing frame (1), and a movable workbench assembly is arranged on the bearing frame (1);
The travelling mechanism comprises four height-adjustable directional wheel assemblies (2) and one height-adjustable universal wheel assembly (3);
The two height-adjustable steering wheel assemblies (2) are symmetrically and fixedly connected to the head of the bearing frame (1) and used for longitudinally moving; the other two height-adjustable steering wheel assemblies (2) are symmetrically and fixedly connected to the head of the bearing frame (1) and used for transversely moving; the height-adjustable universal wheel assembly (3) is fixedly connected in the middle of the tail of the bearing frame (1);
the movable workbench assembly comprises an outer portal (4) and a third vertically mounted lifter (8);
an outer door frame base (401) is fixedly connected to the bottom of the outer door frame (4), and the outer door frame base (401) is connected with the bearing frame (1); an inner door frame (5) is connected to the outer door frame (4) in a sliding manner; a workbench fixing seat (6) is arranged on the inner door frame (5), and a workbench (7) is arranged on the workbench fixing seat (6);
The third lifter (8) is a bevel gear spiral lifter, the third lifter (8) is provided with a third box body (801), a third screw rod (802), a third movable nut (803) and a third input shaft (804), one end of the third screw rod (802) and one end of the third input shaft (804) are respectively provided with a bevel gear and are meshed in the third box body (801);
The third box body (801) is fixedly connected to the outer portal base (401), the third movable nut (803) is fixedly connected to the inner portal (5), the third screw rod (802) is screwed into the third movable nut (803), and the other end of the third input shaft (804) is connected with a third motor (805); starting the third motor (805), wherein the third screw rod (802) moves up and down to drive the inner door frame (5) to move up and down relative to the outer door frame (4);
The height-adjustable steering wheel assembly (2) comprises a first wheel frame (201) and a vertically mounted first lifter (202);
a first roller (203) is arranged on the first wheel frame (201);
The first lifter (202) is a worm gear spiral lifter, the first lifter (202) comprises a first box body (2021), the first box body (2021) is fixedly connected with the bearing frame (1), and a meshed first worm and a first worm gear are arranged in the first box body (2021); the input end of the first worm extends out of the first box body (2021) and is connected with a first motor (2022); a first screw hole is formed in the center of the first worm wheel, and a first screw rod (2023) is arranged in the first screw hole; the lower end of the first screw rod (2023) is fixedly connected with the upper surface of the first wheel carrier (201); the bearing frame (1) is provided with a vertical guide groove for limiting the rotation of the first wheel frame (201);
And starting the first motor (2022), and enabling the first screw rod (2023) to move up and down to drive the first wheel frame (201) to move up and down.
2. The robotic walking platform of claim 1, wherein the height adjustable universal wheel assembly (3) comprises a second wheel carriage (301), a horizontal mounting plate (302), bearings (303) and a vertically mounted second elevator (304);
A second roller (305) is mounted on the second wheel frame (301), and a wheel frame mounting shaft (3011) is arranged on the upper surface of the second wheel frame (301);
the outer ring of the bearing (303) is fixedly connected with the horizontal mounting plate (302), and the inner ring of the bearing (303) is fixedly connected with the wheel carrier mounting shaft (3011);
The second lifter (304) is a worm gear spiral lifter, the second lifter (304) comprises a second box body (3041), the second box body (3041) is fixedly connected with the bearing frame (1), and a meshed second worm and a second worm gear are arranged in the second box body (3041); the input end of the second worm extends out of the second box body (3041) and is connected with a second motor (3042); a second screw hole is formed in the center of the second worm wheel, and a second screw rod (3043) is arranged in the second screw hole;
The lower end of the second screw rod (3043) is fixedly connected with the upper surface of the horizontal mounting plate (302), a plurality of shoulder screws (3021) are vertically arranged on the horizontal mounting plate (302), and a plurality of guide holes matched with the shoulder screws (3021) are formed in the bearing frame (1);
And starting the second motor (3042), wherein the second screw rod (3043) moves up and down to drive the second wheel frame (301) to move up and down.
3. The robotic walking platform of claim 1, wherein the height adjustable universal wheel assembly (3) comprises a second wheel carriage (301), a horizontal mounting plate (302), bearings (303), fixed gears (306), shoulder screws (3021), steering motor fixing plates (307), steering motors (308) and a vertically mounted second elevator (304);
The second lifter (304) is a worm gear spiral lifter, the second lifter (304) comprises a second box body (3041), the second box body (3041) is fixedly connected with the bearing frame (1), and a meshed second worm and a second worm gear are arranged in the second box body (3041); the input end of the second worm extends out of the second box body (3041) and is connected with a second motor (3042); a second screw hole is formed in the center of the second worm wheel, and a second screw rod (3043) is arranged in the second screw hole; the lower end of the second screw rod (3043) is fixedly connected with the upper surface of the horizontal mounting plate (302);
A second roller (305) is mounted on the second wheel frame (301), a wheel frame mounting shaft (3011) is arranged on the upper surface of the second wheel frame (301), and the wheel frame mounting shaft (3011) is fixedly connected with the inner ring of the bearing (303);
The fixed gear (306) is fixedly sleeved on the outer ring of the bearing (303), an outer ring installation screw hole is formed in the fixed gear (306), a through hole is formed in the horizontal installation plate (302), a thread section of the shoulder screw (3021) penetrates through the through hole and is screwed into the outer ring installation screw hole to fixedly connect the horizontal installation plate (302), and a plurality of guide holes matched with the shoulder screw (3021) are formed in the bearing frame (1);
The steering motor fixing plate (307) is fixedly sleeved on the wheel carrier mounting shaft (3011), the steering motor (308) is fixedly connected to the lower surface of the steering motor fixing plate (307), an output shaft of the steering motor (308) extends out of the steering motor fixing plate (307) and is connected with a driving gear (309), and the driving gear (309) is meshed with the fixing gear (306);
-starting the steering motor (308), the second wheel carrier (301) rotating around the central axis of the fixed gear (306);
And starting the second motor (3042), wherein the second screw rod (3043) moves up and down to drive the second wheel frame (301) to move up and down.
4. A robotic walking platform according to claim 2 or 3, characterized in that the second roller (305) comprises a wheel hub motor (3051) and a tyre (3052) wrapped outside the wheel hub motor (3051).
5. The robot walking platform of claim 1, characterized in that the outer mast (4) has two parallel outer uprights (402) and an outer link (403) connecting the outer uprights (402);
The inner door frame (5) is provided with two parallel inner upright posts (501) and an inner connecting rod (502) connected with the inner upright posts (501); a pair of first linear guide rails (4021) are respectively arranged on the opposite surfaces of the two outer upright posts (402), and a plurality of pairs of first sliding blocks matched with the first linear guide rails (4021) are respectively arranged on the opposite surfaces of the two inner upright posts (501); the third box body (801) is fixedly connected with the outer portal base (401), and the third movable nut (803) is fixedly connected to the inner upright post (501).
6. The robot walking platform according to claim 1, characterized in that a second linear guide rail (601) is horizontally arranged on the workbench fixing seat (6), a plurality of second sliding blocks matched with the second linear guide rail (601) are arranged on the workbench (7), and the workbench (7) is connected to the workbench fixing seat (6) in a sliding manner;
A fourth lifter (9) is transversely arranged on the workbench fixing seat (6), the fourth lifter (9) is a bevel gear spiral lifter, the fourth lifter (9) is provided with a fourth box body (901), a fourth screw rod (902), a fourth movable nut and a fourth input shaft (903), one end of the fourth screw rod (902) and one end of the fourth input shaft (903) are respectively provided with a bevel gear, and the bevel gears are meshed in the fourth box body (901); the fourth box body (901) is fixedly connected to the workbench fixing seat (6), a second movable nut is fixedly connected to the workbench (7), the fourth lead screw (902) is screwed into the fourth movable nut, and the other end of the fourth input shaft (903) is connected with a fourth motor (904);
And starting the fourth motor (904), and driving the workbench (7) to horizontally move left and right relative to the workbench fixing seat (6) by the fourth movable nut.
7. The robot walking platform according to claim 5, characterized in that a third linear guide rail (5012) is arranged on the opposite surfaces of the two inner upright posts (501), a plurality of third sliding blocks matched with the third linear guide rail (5012) are arranged on the outer side of the workbench fixing seat (6), and the workbench fixing seat (6) is connected to the inner door frame (5) in a sliding manner;
A fifth lifter (10) is vertically and fixedly connected to the inner connecting rod (502), the fifth lifter (10) is a worm gear screw lifter, the fifth lifter (10) is provided with a fifth box body (1001), the fifth box body (1001) is fixedly connected with the inner connecting rod (502), and a meshed fifth worm and a fifth worm gear are arranged in the fifth box body (1001); the fifth worm extends out of the fifth box (1001) and is connected with a fifth motor (1002); a fifth screw hole is formed in the center of the fifth worm wheel, and a fifth screw rod (1003) is arranged in the fifth screw hole; the upper end of the fifth screw rod (1003) is fixedly connected with a chain wheel frame (11), a chain wheel (12) is installed on the chain wheel frame (11), a chain (13) is erected on the chain wheel (12), one end of the chain (13) is fixedly connected with the inner connecting rod (502), and the other end of the chain is fixedly connected with the workbench fixing seat (6);
and starting the fifth motor (1002), and enabling the fifth screw rod (1003) to move up and down to drive the workbench fixing seat (6) to move up and down relative to the inner door frame (5).
8. The robot walking platform according to claim 1, characterized in that a plurality of fourth sliding blocks (4011) are arranged on two sides of the outer gantry base (401), a pair of fourth linear guide rails (101) matched with the fourth sliding blocks (4011) are arranged on the bearing frame (1), and the outer gantry (4) is connected to the bearing frame (1) in a sliding manner;
A sixth lifter (14) is horizontally and fixedly connected to the bearing frame (1), the sixth lifter (14) is a worm gear screw lifter, the sixth lifter (14) is provided with a sixth box body (1401), the sixth box body (1401) is fixedly connected with the bearing frame (1), and a meshed sixth worm and a sixth worm gear are arranged in the sixth box body (1401); the input end of the sixth worm extends out of the sixth box body (1401) and is connected with a sixth motor (1402); a sixth screw hole is formed in the center of the sixth worm wheel, and a sixth screw rod (1403) is arranged in the sixth screw hole; the front end of the sixth screw rod (1403) is fixedly connected with the outer door frame base (401);
And starting the sixth motor (1402), wherein the sixth screw rod (1403) moves back and forth to drive the outer portal base (401) to move back and forth relative to the bearing frame (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910526456.4A CN110239645B (en) | 2019-06-18 | 2019-06-18 | Robot walking platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910526456.4A CN110239645B (en) | 2019-06-18 | 2019-06-18 | Robot walking platform |
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| CN110239645A CN110239645A (en) | 2019-09-17 |
| CN110239645B true CN110239645B (en) | 2024-07-09 |
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| CN112477978B (en) * | 2020-11-23 | 2024-03-19 | 湖南利美防爆装备制造股份有限公司 | All-angle steering wheel and application method thereof |
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| CN107458494A (en) * | 2017-07-01 | 2017-12-12 | 湖南翼航无人机科技有限公司 | A kind of industrial robot walking mechanism for adapting to a variety of landform |
| CN210284440U (en) * | 2019-06-18 | 2020-04-10 | 西安渊泽工业系统工程有限责任公司 | Robot walking platform |
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| KR100771930B1 (en) * | 2007-07-26 | 2007-10-31 | 주정환 | An automatic guided vehicle |
| CN106002951B (en) * | 2016-07-01 | 2018-10-12 | 中航飞机股份有限公司西安飞机分公司 | A kind of movable type carrying platform |
| CN106786081A (en) * | 2017-03-14 | 2017-05-31 | 国网江苏省电力公司泗洪县供电公司 | A kind of general transfer device of middle high-voltage switch gear |
| CN108638755A (en) * | 2018-05-14 | 2018-10-12 | 浙江百施通网络科技有限公司 | Telescopic universal wheel device |
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| CN104527323A (en) * | 2014-12-17 | 2015-04-22 | 中国航空工业集团公司北京航空精密机械研究所 | Wheel set integrating driving function and steering function |
| CN107458494A (en) * | 2017-07-01 | 2017-12-12 | 湖南翼航无人机科技有限公司 | A kind of industrial robot walking mechanism for adapting to a variety of landform |
| CN210284440U (en) * | 2019-06-18 | 2020-04-10 | 西安渊泽工业系统工程有限责任公司 | Robot walking platform |
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