CN107458494B - Industrial robot running gear who adapts to multiple topography - Google Patents
Industrial robot running gear who adapts to multiple topography Download PDFInfo
- Publication number
- CN107458494B CN107458494B CN201710529108.3A CN201710529108A CN107458494B CN 107458494 B CN107458494 B CN 107458494B CN 201710529108 A CN201710529108 A CN 201710529108A CN 107458494 B CN107458494 B CN 107458494B
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- machine body
- telescopic rod
- rack
- walking
- lifting telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to an industrial robot walking mechanism suitable for various terrains, which comprises a machine body, wherein a driving wheel mechanism, a guide wheel mechanism and two walking mechanisms are arranged on the machine body, the guide wheel mechanism comprises a first rotating seat rotatably mounted at one end of the machine body, a first steering motor is arranged in the machine body, and the first steering motor is connected with the first rotating seat through a gear set.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an industrial robot walking mechanism suitable for various terrains.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
The earliest industrial robots, complying with the ISO definition, were known to be the Meccano magazine, 3 months 1938, completed and published in 1937 by "regulations" griffies P taylor. The Meccano unit and power built almost entirely with a crane-like device is made up of a single motor. Five axes of motion are possible, including preemptive and preemptive rotation. Automation is achieved by energizing the solenoid with a perforated paper tape, which facilitates movement of the control rod of the crane. The robot can stack blocks in a predetermined pattern. It is necessary to plot on the graph paper for the first time for each required number of revolutions of the movement motor. This information is then transferred to the paper tape, which also drives the individual motors of the robot. 1997, complete copies of the robot built by krishult.
Industrial robots have improved the efficiency of industrial production, have brought huge profit, but industrial robots's running gear among the prior art is mostly fairly simple, can only remove or can not remove on flat road surface.
Disclosure of Invention
The invention aims to solve the defect that the industrial robot can not move in various terrains in the prior art, and provides a walking mechanism of an industrial robot suitable for various terrains.
In order to achieve the purpose, the invention adopts the following technical scheme:
the walking mechanism of the industrial robot suitable for various terrains comprises a machine body, wherein a driving wheel mechanism, a guide wheel mechanism and two walking mechanisms are arranged on the machine body;
the guide wheel mechanism comprises a first rotating seat rotatably mounted at one end of the machine body, a first steering motor is arranged in the machine body and connected with the first rotating seat through a gear set, at least two first lifting telescopic rods are vertically arranged at the bottom of the first rotating seat, and guide wheels are rotatably mounted at the lower ends of the first lifting telescopic rods through a damping mechanism;
the driving wheel mechanism comprises a third rack arranged below the other end of the machine body, four corners of the third rack are vertically connected with third lifting telescopic rods, the upper ends of the third lifting telescopic rods are arranged at the bottom of the machine body, a driving motor is arranged on the third rack, a rotating shaft is rotatably arranged on the third rack, driving wheels are arranged at two ends of the rotating shaft, and the driving motor is connected with the rotating shaft through a gear set;
the walking mechanism comprises a translation mechanism horizontally arranged in the machine body, a guide rail is mounted on the translation mechanism, a sliding seat is slidably mounted on the guide rail, a second rotating seat is rotatably mounted in the machine body, a walking telescopic rod is mounted on the second rotating seat, the end part of the walking telescopic rod is rotatably mounted on the sliding seat, the bottom of the sliding seat is vertically connected with at least two second lifting telescopic rods, and the lower ends of the second lifting telescopic rods are connected with a supporting device;
the damping mechanism comprises a first rack fixed at the lower end of the first lifting telescopic rod, a first connecting rod is inserted into the first rack, a stop block is arranged at the upper end of the first connecting rod, the lower end of the first connecting rod is connected with a wheel carrier, the guide wheel is rotatably installed on the wheel carrier, a buffer spring is connected between the wheel carrier and the first rack, and the buffer spring is sleeved outside the first connecting rod;
the translation mechanism comprises a guide rod and a lead screw which are horizontally arranged in the machine body, a second steering motor is arranged in the machine body, an output shaft of the second steering motor is connected with the lead screw, the guide rail is sleeved on the guide rod and the lead screw, and a movable nut of the lead screw is fixedly connected with the guide rail;
the supporting device comprises a second rack fixed at the lower end of the second lifting telescopic rod, three second connecting rods are uniformly distributed on the second rack along the axial direction, supporting legs are vertically inserted at the end parts of the second connecting rods, and the bottoms of the supporting legs are truncated cone-shaped rubber blocks.
Preferably, the guide wheel and the driving wheel are both high-temperature resistant rubber wheels or nylon wheels.
Preferably, the sliding seat is rotatably provided with at least two rollers, and the wheel surfaces of the rollers are arranged close to the guide rail.
Preferably, the first lifting telescopic rod, the second lifting telescopic rod, the third lifting telescopic rod and the walking telescopic rod are all electric telescopic rods or hydraulic oil cylinders.
The industrial robot walking mechanism suitable for various terrains has the advantages that: the invention adopts two modes of common roller driving and walking driving to move, can freely switch according to terrain conditions, has wide application range and high stability and reliability in moving, effectively solves the problem that the traditional industrial robot is difficult to move, enables the industrial robot to be more flexible in use, is beneficial to the full development of the industrial robot technology, and has good practical value and market potential.
Drawings
FIG. 1 is a schematic structural diagram of a walking mechanism of an industrial robot adapted to various terrains according to the present invention;
FIG. 2 is a schematic structural diagram of a guide wheel mechanism of a walking mechanism of an industrial robot adapted to various terrains according to the present invention;
FIG. 3 is a front view of a walking mechanism of the industrial robot adaptable to various terrains according to the present invention;
FIG. 4 is a bottom view of a walking mechanism of the industrial robot adapted to various terrains according to the present invention;
fig. 5 is a schematic structural diagram of a driving wheel mechanism of a walking mechanism of an industrial robot adapted to various terrains according to the present invention.
In the figure: the device comprises a machine body 1, a walking mechanism 2, a driving wheel mechanism 3, a guide wheel mechanism 4, a guide wheel 5, a buffer spring 6, a first rotating seat 7, a first connecting rod 8, a stop block 9, a first steering motor 10, a rotating shaft 11, a first lifting telescopic rod 12, a first machine frame 13, a second lifting telescopic rod 14, a guide rod 15, a roller 16, a guide rail 17, a lead screw 18, a sliding seat 19, a second rotating seat 20, a walking telescopic rod 21, a second machine frame 22, a second connecting rod 23, a supporting leg 24, a second steering motor 25, a driving motor 26, a wheel frame 27, a third lifting telescopic rod 28, a driving wheel 29 and a third machine frame 30.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, the walking mechanism of the industrial robot suitable for various terrains comprises a machine body 1, wherein a driving wheel mechanism 3, a guide wheel mechanism 4 and two walking mechanisms 2 are arranged on the machine body 1. The driving wheel mechanism 3 and the guide wheel mechanism 4 are matched to be used for quickly moving the flat ground, and the walking mechanism 2 is used for slowly moving the uneven ground.
The guide wheel mechanism 4 is equipped with first steering motor 10 including rotating the first seat 7 that rotates of installing in organism 1 one end in the organism 1, and first steering motor 10 passes through the gear train and is connected with first seat 7 that rotates, and the bottom of first seat 7 that rotates is vertical to be equipped with and is no less than two first telescopic handle 12, and the leading wheel 5 is installed through damper rotation to the 12 lower extremes of first telescopic handle. The first steering motor 10 rotates the first rotating base 7 to control the direction when the roller is used for advancing, and the damping mechanism is used for reducing mechanical vibration.
The damping mechanism comprises a first machine frame 13 fixed at the lower end of a first lifting telescopic rod 12, a first connecting rod 8 is inserted in the first machine frame 13, a stop block 9 is arranged at the upper end of the first connecting rod 8, a wheel frame 27 is connected to the lower end of the first connecting rod 8, a guide wheel 5 is rotatably installed on the wheel frame 27, a buffer spring 6 is connected between the wheel frame 27 and the first machine frame 13, and the buffer spring 6 is sleeved outside the first connecting rod 8. The guide wheel 5 and the driving wheel 29 are both high-temperature resistant rubber wheels or nylon wheels. Under the buffering of buffer spring 6, first connecting rod 8 can move along vertical direction to play the shock attenuation cushioning effect.
Drive wheel mechanism 3 is including establishing third frame 30 in organism 1 other end below, and the equal vertical third telescopic handle 28 that is connected with in four corners of third frame 30, and the upper end of third telescopic handle 28 is installed in organism 1 bottom, installs driving motor 26 in the third frame 30, and the last rotation of third frame 30 installs pivot 11, and the both ends of pivot 11 all are equipped with drive wheel 29, and driving motor 26 passes through the gear train and is connected with pivot 11. The drive motor 26 rotates the drive wheel 29 so that the drive mechanism advances.
The walking mechanism 2 comprises a translation mechanism horizontally arranged in the machine body 1, the translation mechanism comprises a guide rod 15 and a lead screw 18 horizontally arranged in the machine body 1, a second steering motor 25 is arranged in the machine body 1, an output shaft of the second steering motor 25 is connected with the lead screw 18, a guide rail 17 is sleeved on the guide rod 15 and the lead screw 18, and a movable nut of the lead screw 18 is fixedly connected with the guide rail 17. The translation mechanism is used for controlling the horizontal movement of the guide rail 17, thereby controlling the moving direction.
The translation mechanism is provided with a guide rail 17, the guide rail 17 is provided with a sliding seat 19 in a sliding way, the sliding seat 19 is provided with at least two rollers 16 in a rotating way, and the wheel surfaces of the rollers 16 are arranged close to the guide rail 17. The internal rotation of organism 1 is installed the second and is rotated seat 20, and the second is rotated and is installed walking telescopic link 21 on the seat 20, and the tip of walking telescopic link 21 rotates and installs on slide 19, and the bottom of slide 19 is vertical to be connected with and is no less than two second lifting telescopic links 14, and the lower extreme of second lifting telescopic link 14 is connected with strutting arrangement. The first lifting telescopic rod 12, the second lifting telescopic rod 14, the third lifting telescopic rod 28 and the walking telescopic rod 21 are all electric telescopic rods or hydraulic oil cylinders. During walking movement, the first lifting telescopic rod 12 and the third lifting telescopic rod 28 are retracted, the supporting devices are in contact with the ground, at the moment, the second lifting telescopic rod 14 of the first walking mechanism 2 contracts, the supporting devices are separated from the ground, then the first walking mechanism 2 extends the telescopic rod 21, then the second lifting telescopic rod 14 of the first walking mechanism 2 extends, the supporting devices are in contact with the ground, the second lifting telescopic rod 14 of the second walking mechanism 2 contracts, the supporting devices are separated from the ground, then the walking telescopic rod 21 of the first walking mechanism 2 contracts to drive the machine body 1 to move forwards, then the walking telescopic rod 21 of the second walking mechanism 2 extends, then the second lifting telescopic rod 14 of the second walking mechanism 2 extends, the supporting devices are in contact with the ground, and thus walking forward of the walking mechanisms is alternately and repeatedly realized.
The supporting device comprises a second rack 22 fixed at the lower end of the second lifting telescopic rod 14, three second connecting rods 23 are uniformly distributed on the second rack 22 along the axial direction, supporting legs 24 are vertically inserted at the end parts of the second connecting rods 23, and the bottoms of the supporting legs 24 are truncated cone-shaped rubber blocks.
The implementation mode is as follows: the driving wheel mechanism 3 and the guide wheel mechanism 4 are matched to be used for quickly moving the flat ground, and the walking mechanism 2 is used for slowly moving the uneven ground. The first steering motor 10 rotates the first rotating base 7 to control the direction when the roller is used for advancing, and the damping mechanism is used for reducing mechanical vibration. The translation mechanism is used for controlling the horizontal movement of the guide rail 17, thereby controlling the moving direction. During walking movement, the first lifting telescopic rod 12 and the third lifting telescopic rod 28 are retracted, the supporting devices are in contact with the ground, at the moment, the second lifting telescopic rod 14 of the first walking mechanism 2 contracts, the supporting devices are separated from the ground, then the first walking mechanism 2 extends the telescopic rod 21, then the second lifting telescopic rod 14 of the first walking mechanism 2 extends, the supporting devices are in contact with the ground, the second lifting telescopic rod 14 of the second walking mechanism 2 contracts, the supporting devices are separated from the ground, then the walking telescopic rod 21 of the first walking mechanism 2 contracts to drive the machine body 1 to move forwards, then the walking telescopic rod 21 of the second walking mechanism 2 extends, then the second lifting telescopic rod 14 of the second walking mechanism 2 extends, the supporting devices are in contact with the ground, and thus walking forward of the walking mechanisms is alternately and repeatedly realized.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides an industrial robot running gear of adaptation multiple topography, includes organism (1), its characterized in that: the machine body (1) is provided with a driving wheel mechanism (3), a guide wheel mechanism (4) and two walking mechanisms (2);
the guide wheel mechanism (4) comprises a first rotating seat (7) rotatably mounted at one end of the machine body (1), a first steering motor (10) is arranged in the machine body (1), the first steering motor (10) is connected with the first rotating seat (7) through a gear set, at least two first lifting telescopic rods (12) are vertically arranged at the bottom of the first rotating seat (7), and guide wheels (5) are rotatably mounted at the lower ends of the first lifting telescopic rods (12) through a damping mechanism;
the driving wheel mechanism (3) comprises a third rack (30) arranged below the other end of the machine body (1), four corners of the third rack (30) are vertically connected with third lifting telescopic rods (28), the upper ends of the third lifting telescopic rods (28) are installed at the bottom of the machine body (1), driving motors (26) are installed on the third rack (30), rotating shafts (11) are installed on the third rack (30) in a rotating mode, driving wheels (29) are arranged at two ends of each rotating shaft (11), and the driving motors (26) are connected with the rotating shafts (11) through gear sets;
the walking mechanism (2) comprises a translation mechanism horizontally arranged in the machine body (1), a guide rail (17) is mounted on the translation mechanism, a sliding seat (19) is mounted on the guide rail (17) in a sliding manner, a second rotating seat (20) is mounted in the machine body (1) in a rotating manner, a walking telescopic rod (21) is mounted on the second rotating seat (20), the end part of the walking telescopic rod (21) is rotatably mounted on the sliding seat (19), at least two second lifting telescopic rods (14) are vertically connected to the bottom of the sliding seat (19), and the lower end of each second lifting telescopic rod (14) is connected with a supporting device;
the damping mechanism comprises a first rack (13) fixed at the lower end of a first lifting telescopic rod (12), a first connecting rod (8) is inserted on the first rack (13), a stop block (9) is arranged at the upper end of the first connecting rod (8), a wheel carrier (27) is connected with the lower end of the first connecting rod (8), the guide wheel (5) is rotatably installed on the wheel carrier (27), a buffer spring (6) is connected between the wheel carrier (27) and the first rack (13), and the buffer spring (6) is sleeved outside the first connecting rod (8);
the translation mechanism comprises a guide rod (15) and a lead screw (18) which are horizontally arranged in the machine body (1), a second steering motor (25) is arranged in the machine body (1), an output shaft of the second steering motor (25) is connected with the lead screw (18), the guide rail (17) is sleeved on the guide rod (15) and the lead screw (18), and a movable nut of the lead screw (18) is fixedly connected with the guide rail (17);
the supporting device comprises a second rack (22) fixed at the lower end of a second lifting telescopic rod (14), three second connecting rods (23) are uniformly distributed on the second rack (22) along the axial direction, supporting legs (24) are vertically inserted at the end parts of the second connecting rods (23), and the bottoms of the supporting legs (24) are truncated cone-shaped rubber blocks.
2. The industrial robot walking mechanism adapted to various terrains according to claim 1, wherein: the guide wheel (5) and the driving wheel (29) are both high-temperature resistant rubber wheels or nylon wheels.
3. The industrial robot walking mechanism adapted to various terrains according to claim 1, wherein: at least two rollers (16) are rotatably arranged on the sliding seat (19), and the wheel surfaces of the rollers (16) are arranged close to the guide rail (17).
4. The industrial robot walking mechanism adapted to various terrains according to claim 1, wherein: the first lifting telescopic rod (12), the second lifting telescopic rod (14), the third lifting telescopic rod (28) and the walking telescopic rod (21) are all electric telescopic rods or hydraulic oil cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529108.3A CN107458494B (en) | 2017-07-01 | 2017-07-01 | Industrial robot running gear who adapts to multiple topography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710529108.3A CN107458494B (en) | 2017-07-01 | 2017-07-01 | Industrial robot running gear who adapts to multiple topography |
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| Publication Number | Publication Date |
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| CN107458494A CN107458494A (en) | 2017-12-12 |
| CN107458494B true CN107458494B (en) | 2019-12-27 |
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| CN201710529108.3A Active CN107458494B (en) | 2017-07-01 | 2017-07-01 | Industrial robot running gear who adapts to multiple topography |
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| CN110219440A (en) * | 2019-06-27 | 2019-09-10 | 佛山市突破机械制造有限公司 | A kind of plastering machine assisting walking |
| CN110405717B (en) * | 2019-07-27 | 2021-01-15 | 南京昱晟机器人科技有限公司 | Universal walking mechanism and method for industrial robot |
| CN111055982B (en) * | 2019-12-31 | 2024-04-26 | 上海宇鹤自动化科技有限公司 | Robot base walking under water |
| CN113147898A (en) * | 2021-04-25 | 2021-07-23 | 上海擎朗智能科技有限公司 | Robot chassis and control method thereof |
| CN113044134B (en) * | 2021-04-30 | 2021-12-24 | 常州大学 | Quadruped robot capable of crawling on horizontal grid |
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| DE10000096A1 (en) * | 2000-01-04 | 2001-07-05 | Ridha Azaiz | Mobile robot, esp. for application of smooth and inclined surfaces, which can be modularly constructed, has each suction cup fitted with a corresponding sensor device and a matching walking mechanism |
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