CN115503023A - Industrial robot removes chassis - Google Patents
Industrial robot removes chassis Download PDFInfo
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- CN115503023A CN115503023A CN202211469734.5A CN202211469734A CN115503023A CN 115503023 A CN115503023 A CN 115503023A CN 202211469734 A CN202211469734 A CN 202211469734A CN 115503023 A CN115503023 A CN 115503023A
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- ejection
- reversing
- sliding
- vehicle body
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention discloses a movable chassis of an industrial robot, which comprises an ejection obstacle avoidance assembly, a switching type reversing transmission mechanism, a movable vehicle body, a containing support, a containing table, a battery box, a rear movable supporting plate, rear side wheels, a rear side motor and front side wheels. The invention belongs to the field of mobile accommodating chassis of robots, in particular to a mobile chassis of an industrial robot; the invention provides an ejection obstacle avoidance assembly for solving the obstacle avoidance problem when a moving chassis of an industrial robot moves, the moving vehicle body can be moved backwards before the moving vehicle body collides with an obstacle, when the obstacle exists in the front, a normally closed button and an ejection contact rod can respectively realize the reversing and retreating moving functions of the moving vehicle body at the same time, the implementation process can be reproduced when the obstacle still exists next time, and when electronic control elements such as a traditional sensor are not adopted, the automatic effect of avoiding the obstacle is realized through automatic reversing and retreating.
Description
Technical Field
The invention belongs to the technical field of mobile accommodating chassis of robots, and particularly relates to a mobile chassis of an industrial robot.
Background
The robot chassis is not only an integration point of various sensors, machine vision, laser radar, motor wheels and other equipment, but also bears the functions of positioning, navigation, movement and the like of the robot and the basic functions of obstacle avoidance and the like.
In industrial design, the existing robot moving chassis has rich functions, generally comprises obstacle avoidance and steering functions, but generally realizes required functions through a sensor, a control element, a radar and the like, the prior art discloses an obstacle avoidance robot for industrial production based on artificial intelligence and a using method thereof, publication No. CN112936215A, the application can realize obstacle avoidance by controlling elements such as an ultrasonic sensor through a single chip microcomputer, although the effect can be realized, a great deal of energy is consumed for debugging and running of equipment, if the obstacle avoidance or steering functions can be realized through other modes, the application can make a contribution to the prior art, and therefore the industrial robot moving chassis needs to be provided.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects of the prior art, the invention provides the industrial robot moving chassis, which effectively solves the problems that automatic obstacle avoidance is difficult to realize and low-cost automatic experience is difficult to provide when the industrial robot moving chassis moves.
The technical scheme adopted by the invention is as follows: the invention provides a movable chassis of an industrial robot, which comprises an ejection obstacle avoidance assembly, a switching type reversing transmission mechanism, a movable vehicle body, a containing support, a containing platform, a battery box, a rear side movable supporting plate, a rear side wheel, a rear side motor and a front side wheel.
Preferably, the switching type reversing transmission mechanism comprises electrorheological fluid, a built-in capacitor plate, a normally closed button, a reversing shaft, a solid-liquid conversion container, a reversing torsion spring, reversing teeth, a switching rack, a rack guide frame, a reversing connecting piece, a reversing transmission hole, a reversing connecting rod, a front side connecting frame, a fixed bearing and a front side motor, wherein the solid-liquid conversion container is fixedly connected to the mobile vehicle body, the electrorheological fluid is filled in the solid-liquid conversion container, the built-in capacitor plates are arranged in the solid-liquid conversion container in two groups, the reversing shaft is arranged on the solid-liquid conversion container in a penetrating and rotating manner, the reversing shaft is arranged on the mobile vehicle body in a penetrating and rotating manner, the reversing torsion spring is arranged on the reversing shaft, the reversing teeth are arranged on the reversing shaft in a surrounding manner, the rack leading truck rigid coupling is on moving the automobile body, the switching rack runs through the slip and locates on the rack leading truck, the bottom of switching-over axle is located to the switching-over connecting piece, the switching-over connecting piece is through the switching-over through-hole rigid coupling that its one end set up on the switching-over axle, switching-over transmission hole divides two sets of locating on the switching-over connecting piece, fixing bearing locates the bottom of moving the automobile body, the front side link rotates and locates on the fixing bearing, the fuselage of front side motor is located on the front side link, the one end of switching-over connecting rod articulates on switching-over transmission hole, the other end of switching-over connecting rod articulates on the front side link, normally closed button locates on the switching rack, the electricity is connected between normally closed button and the built-in electric capacity board.
The catapult obstacle avoidance assembly comprises a catapult counterweight head, a sliding catapult block, a clamping strip, a catapult clamping groove, a secondary catapult shell, a sliding launch pad, a sliding launch tooth, a sliding launch guide rod, a launch guide groove, a barrier avoidance assembly base, a catapult spring, a spring support, a catapult torsion spring, a catapult rotating shaft, a sector gear, a catapult pinion, a catapult rack, a catapult contact rod and a slide bar guide frame.
Wherein, the ejection obstacle avoidance component and the switching type reversing transmission mechanism are arranged on two sides of the movable vehicle body.
Preferably, the switching rack is in meshed connection with the reversing teeth.
The sliding launching gear is meshed with the sector gear, and the ejection pinion is meshed with the ejection rack.
Furthermore, the battery box is electrically connected with the front side motor and the rear side motor.
Furthermore, two groups of the rear movable supporting plates are arranged pairwise.
Preferably, the front side wheel is connected to an output of the front side motor.
Further, the two sets of built-in capacitor plates are opposite in polarity.
The invention adopting the structure has the following beneficial effects: this scheme provides an industrial robot removes chassis, has effectively solved industrial robot removes chassis and is difficult to realize keeping away the problem that the barrier is experienced, is difficult to provide the low-cost automation when removing automatically, and this kind of method has following advantage:
(1) In order to solve the problem of obstacle avoidance when an industrial robot moves a chassis, the invention provides an ejection obstacle avoidance assembly, when an obstacle exists in the front direction, an ejection contact rod contacts the obstacle firstly, then the ejection contact rod slides inwards along a slide rod guide frame, the moving direction of the ejection contact rod is opposite to that of a moving vehicle body before, then an ejection rack moves synchronously along with the ejection contact rod and is meshed with an ejection pinion, the ejection pinion drives an ejection rotating shaft to rotate, then the sector gear rotates and is meshed with a sliding emission tooth below quickly, so that a sliding emission platform slides along an emission guide groove through a sliding emission guide rod, at the moment, an ejection spring is stressed and compressed, when the tooth on the sector gear is separated from the sliding emission tooth, the ejection spring resets and extends to drive the sliding emission platform to eject reversely in an accelerated manner, at the moment, a secondary ejection shell inside the ejection shell slides and ejects, a sliding ejection block inside the ejection rod slides and ejects in the ejection clamping groove, the secondary shell cannot fall off, the secondary weight head has large mass, so that the ejection weight head completely ejects and impacts on the obstacle, backward force is applied to the moving vehicle body, the moving vehicle body after a short time, the collision can be controlled, and the obstacle avoidance element can move in the conventional vehicle body before the conventional obstacle avoidance process can be realized;
(2) The invention provides a switching type reversing transmission mechanism capable of automatically reversing before impact, when a movable vehicle body is driven by a front side motor and a rear side motor to normally run (the front side has no obstacle), a normally closed button conducts a circuit, after the circuit is electrified, electrorheological fluid changes due to a thermogege phenomenon, namely the electrorheological fluid is changed into a solid state from a fluid, at the moment, a reversing shaft is connected with a solid-liquid conversion container through the solid electrorheological fluid, namely the reversing shaft cannot rotate during running, the stability during running of the movable vehicle body can be realized, when the obstacle exists at the front side, the normally closed button is firstly contacted with the obstacle, then the normally closed button is pressed down, the circuit is disconnected, at the moment, the built-in capacitor plates do not discharge, the electrorheological fluid is in a fluid state within a very short time, the reversing shaft can rotate at the moment, and at the same time, the switching rack slides along the rack guide frame under the action of impact force, the reversing shaft is driven to rotate through the reversing gear, the reversing connecting piece at the bottom rotates around the reversing through hole, the reversing connecting piece drives the reversing connecting rods on two sides to swing, the front side connecting frame is driven to rotate around the fixed bearing, the front side wheel rotates along with the front side connecting frame, the reversing process is completed, the whole moving vehicle body is jacked open by the ejection counterweight head, the reversing torsion spring drives the reversing shaft to rotate and reset at the moment, the switching rack is reset, the normally closed button is not contacted with an obstacle when the moving vehicle body is jacked open, the normally closed button is reset, the normally closed state is recovered, the circuit is conducted, the electrorheological fluid is changed into a solid state again, the stability of the moving vehicle body during running is maintained, and the implementation process can be repeated when the normally closed button is contacted with the obstacle next time;
(3) After the ejection contact rod impacts an obstacle, the ejection torsion spring helps the ejection rotating shaft to reset, and the subsequent ejection obstacle avoidance component can realize the ejection obstacle avoidance function again;
(4) Therefore, when an obstacle exists in the front, the normally closed button and the ejection contact rod can respectively realize the reversing and retreating functions of the moving vehicle body at the same time, the implementation process can still be reproduced when the obstacle is encountered next time, and the automatic effect of avoiding the obstacle is realized through automatic reversing and retreating when electronic control elements such as a traditional sensor are not adopted.
Drawings
Fig. 1 is a front view of a mobile chassis of an industrial robot provided by the present invention;
fig. 2 is a partial structural schematic diagram of a mobile chassis of an industrial robot provided by the invention;
fig. 3 is a partial bottom view of a mobile chassis of an industrial robot according to the invention;
FIG. 4 is a schematic view of the internal structure of the switching type reversing transmission mechanism provided by the present invention;
FIG. 5 is a front view of a portion of the switching type reversing gear provided in the present invention;
FIG. 6 is a cross-sectional view of a portion of the switching type reversing gear mechanism provided in the present invention;
fig. 7 is a front view of the ejection obstacle avoidance assembly provided by the present invention;
fig. 8 is a front sectional view of an ejection obstacle avoidance assembly provided by the present invention;
fig. 9 is a partially enlarged view of a portion a of fig. 8.
Wherein, 1, an ejection obstacle avoidance component, 2, a switching type reversing transmission mechanism, 3, a movable vehicle body, 4, a containing bracket, 5, a containing platform, 6, a battery box, 7, a rear side movable supporting plate, 8, a rear side wheel, 9, a rear side motor, 10, a front side wheel, 11, electrorheological fluid, 12, a built-in capacitor plate, 13, a normally closed button, 14, a reversing shaft, 15, a solid-liquid conversion container, 16, a reversing torsion spring, 17, a reversing gear, 18, a switching rack, 19, a rack guide frame, 20, a reversing connecting piece, 21, a reversing transmission hole, 22, a reversing connecting rod, 23 and a front side connecting frame, 24, a fixed bearing, 25, a front side motor, 26, an ejection counterweight head, 27, a sliding ejection block, 28, a clamping strip, 29, an ejection clamping groove, 30, a secondary ejection shell, 31, a sliding ejection platform, 32, a sliding ejection tooth, 33, a sliding ejection guide rod, 34, an ejection guide groove, 35, an obstacle avoidance component base, 36, an ejection spring, 37, a spring support, 38, an ejection torsion spring, 39, an ejection rotating shaft, 40, a sector gear, 41, an ejection pinion, 42, an ejection rack, 43, an ejection contact rod, 44, a sliding rod guide frame, 45 and a reversing through hole.
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
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; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
As shown in fig. 1-9, the invention provides a mobile chassis of an industrial robot, which comprises an ejection obstacle avoidance assembly 1, a switching type reversing transmission mechanism 2, a mobile vehicle body 3, a containing bracket 4, a containing platform 5, a battery box 6, a rear mobile support plate 7, rear wheels 8, a rear motor 9 and front wheels 10, wherein the ejection obstacle avoidance assembly 1 is arranged on the mobile vehicle body 3, the switching type reversing transmission mechanism 2 is arranged on the mobile vehicle body 3, the containing bracket 4 is fixedly connected on the mobile vehicle body 3, the containing platform 5 is fixedly connected on the containing bracket 4, the battery box 6 is arranged on the mobile vehicle body 3, the rear mobile support plate 7 is fixedly connected to the rear side of the mobile vehicle body 3 in a penetrating manner, the rear motor 9 is arranged between the rear mobile support plates 7, the rear wheels 8 are rotatably arranged on the rear mobile support plates 7, the output end of the rear motor 9 is connected to the rear wheels 8, and the front wheels 10 are arranged on the switching type reversing transmission mechanism 2.
The switching type reversing transmission mechanism 2 comprises an electrorheological fluid 11, a built-in capacitance plate 12, a normally closed button 13, a reversing shaft 14, a solid-liquid conversion container 15, a reversing torsion spring 16, a reversing tooth 17, a switching rack 18, a rack guide frame 19, a reversing connecting piece 20, a reversing transmission hole 21, a reversing connecting rod 22, a front side connecting frame 23, a fixed bearing 24 and a front side motor 25, wherein the solid-liquid conversion container 15 is fixedly connected on a movable vehicle body 3, the electrorheological fluid 11 is filled in the solid-liquid conversion container 15, the built-in capacitance plate 12 is divided into two groups and arranged in the solid-liquid conversion container 15, the reversing shaft 14 is arranged on the solid-liquid conversion container 15 in a penetrating and rotating way, the reversing shaft 14 is arranged on the movable vehicle body 3 in a penetrating and rotating way, the reversing torsion spring 16 is arranged on the reversing shaft 14, and the reversing tooth 17 is arranged on the reversing shaft 14 in a surrounding way, the rack guide frame 19 is fixedly connected to the movable vehicle body 3, the switching rack 18 is arranged on the rack guide frame 19 in a penetrating and sliding mode, the reversing connecting piece 20 is arranged at the bottom of the reversing shaft 14, the reversing connecting piece 20 is fixedly connected to the reversing shaft 14 through a reversing through hole 45 formed in one end of the reversing connecting piece 20, the reversing transmission holes 21 are formed in the reversing connecting piece 20 in two groups, the fixed bearing 24 is arranged at the bottom of the movable vehicle body 3, the front side connecting frame 23 is rotatably arranged on the fixed bearing 24, the body of the front side motor 25 is arranged on the front side connecting frame 23, one end of the reversing connecting rod 22 is hinged to the reversing transmission hole 21, the other end of the reversing connecting rod 22 is hinged to the front side connecting frame 23, the normally closed button 13 is arranged on the switching rack 18, and the normally closed button 13 is electrically connected with the built-in capacitor plate 12.
The ejection obstacle avoidance assembly 1 comprises an ejection counterweight head 26, a sliding ejection block 27, a clamping strip 28, an ejection clamping groove 29, a secondary ejection shell 30, a sliding emission table 31, a sliding emission tooth 32, a sliding emission guide rod 33, an emission guide groove 34, an obstacle avoidance assembly base 35, an ejection spring 36, a spring support 37, an ejection torsion spring 38, an ejection rotating shaft 39, a sector gear 40, an ejection pinion 41, an ejection rack 42, an ejection contact rod 43 and a slide rod guide frame 44, wherein the obstacle avoidance assembly base 35 is fixedly connected on the side wall of the movable vehicle body 3, the emission guide groove 34 is arranged on the obstacle avoidance assembly base 35, the sliding emission guide rod 33 is embedded and slidably arranged on the emission guide groove 34, the sliding emission table 31 is fixedly connected on the sliding emission guide rod 33, the sliding emission tooth 32 is arranged at the top of the sliding emission table 31, the secondary shell 30 is embedded and slidably arranged in the sliding emission table 31, the ejection clamping groove 29 is arranged on the inner wall of the secondary ejection shell 30, the clamping bar 28 is embedded in the ejection clamping groove 29 in a sliding manner, the sliding ejection block 27 is fixedly connected to the clamping bar 28, the ejection counterweight head 26 is fixedly connected to the sliding ejection block 27, the spring support 37 is fixedly connected to the obstacle avoidance assembly base 35, one end of the ejection spring 36 is arranged on the sliding launching platform 31, the other end of the ejection spring 36 is arranged on the spring support 37, the ejection rotating shaft 39 is rotatably arranged on the side wall of the moving vehicle body 3, the sector gear 40 is fixedly connected to the ejection rotating shaft 39 in a penetrating manner, the ejection pinion 41 is fixedly connected to the ejection rotating shaft 39 in a penetrating manner, the ejection torsion spring 38 is arranged on the ejection rotating shaft 39, the slide bar guide frame 44 is fixedly connected to the side wall of the moving vehicle body 3, the ejection contact bar 43 is slidably arranged on the slide bar guide frame 44, and the ejection rack 42 is fixedly connected to the contact bar 43.
The ejection obstacle avoidance component 1 and the switching type reversing transmission mechanism 2 are arranged on two sides of the movable vehicle body 3.
The switching rack 18 is meshed with the reversing teeth 17.
The sliding launching teeth 32 are in meshed connection with the sector gear 40, and the ejecting pinion 41 is in meshed connection with the ejecting rack 42.
The battery box 6 is electrically connected with the front motor 25 and the rear motor 9.
Two groups of rear movable supporting plates 7 are arranged pairwise.
The front wheel 10 is connected to the output of the front motor 25.
The two sets of built-in capacitor plates 12 are of opposite polarity.
When in use, when an obstacle exists in the front direction, the ejection contact rod 43 contacts the obstacle first, so that the ejection contact rod 43 slides inwards along the slide rod guide frame 44, and the moving direction of the ejection contact rod 43 is opposite to the moving direction of the vehicle body 3 which is moved before, so that the ejection rack 42 moves synchronously with the ejection contact rod 43 and is meshed with the ejection pinion 41, so that the ejection pinion 41 drives the ejection rotating shaft 39 to rotate, so that the sector gear 40 rotates to be meshed with the sliding ejection teeth 32 below quickly, so that the sliding ejection table 31 slides along the ejection guide groove 34 through the sliding ejection guide rod 33, at the moment, the ejection spring 36 is compressed under force, when the teeth on the sector gear 40 are separated from the sliding ejection teeth 32, the ejection spring 36 resets and extends to drive the sliding ejection table 31 to accelerate and eject reversely, at the moment, due to inertia, the internal second-stage ejection shell 30 slides and ejects, the clamping strip 28 slides in the ejection groove 29, the second-stage shell 30 does not fall off, because the ejection counter weight head 26 has a large mass, completely impacts on the obstacle, the moving vehicle body 3, so that the vehicle body 3 moves backwards after the collision of the obstacle avoiding component, the obstacle can be removed after the collision, and the collision of the vehicle body 3 occurs, the conventional collision control component can be removed after the collision control, and the obstacle avoiding component 1 is moved backwards, and the collision can be realized; when the vehicle body 3 is driven by the front motor 25 and the rear motor 9 to normally run (at this time, no obstacle exists on the front side), the normally closed button 13 conducts the circuit, after the circuit is powered on, the electrorheological fluid 11 changes due to the thermowell phenomenon, i.e., the electrorheological fluid 11 is changed from a fluid state to a solid state, at this time, the reversing shaft 14 is connected with the solid-liquid transformation container 15 through the electrorheological fluid 11 in a solid state, that is, the steering shaft 14 cannot rotate during traveling, so that the traveling stability of the traveling vehicle body 3 can be achieved, when there is an obstacle in the front, the normally closed button 13 contacts the obstacle first, and then the normally closed button 13 is pressed, the circuit is broken, that is, the discharge between the built-in capacitive plates 12 does not occur, the electro-rheological fluid 11 is in a fluid state in an extremely short time, the steering shaft 14 can be rotated at this time, and at the same time, the switching rack 18 is slid along the rack guide 19 by the force of the impact, the reversing shaft 14 is driven to rotate by the reversing teeth 17, so that the reversing connecting piece 20 at the bottom rotates around the reversing through hole 45, then the reversing connecting piece 20 drives the reversing connecting rods 22 at the two sides to swing, and also drives the front side connecting frame 23 to rotate around the fixed bearing 24, then the front side wheel 10 rotates along with the front side connecting frame 23, the reversing process is completed, since the whole moving body 3 is pushed open by the catapult weight head 26, the reversing torsion spring 16 also drives the reversing shaft 14 to rotate and reset at the moment, so that the switching rack 18 is reset, when the moving vehicle body 3 is pushed open, the normally closed button 13 is not contacted with the obstacle, and then the normally closed button 13 is reset to return to the normally closed state, the circuit is conducted, the electrorheological fluid 11 becomes a solid state again, the stability of the moving vehicle body 3 during running is maintained, and the implementation process can be repeated when the normally closed button 13 contacts an obstacle next time; when an obstacle exists in the front, the normally closed button 13 and the ejection contact rod 43 in the invention can respectively realize the reversing and retreating functions of the moving vehicle body 3 at the same time, and the implementation process can be reproduced when the vehicle body meets the obstacle next time, so that the automatic effect of avoiding the obstacle is realized by automatic reversing and retreating when electronic control elements such as a traditional sensor and the like are not adopted, and the transportation of the material can be realized by putting the required object into the accommodating table 5.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should be able to conceive of the present invention without creative design of the similar structural modes and embodiments without departing from the spirit of the present invention, and all such modifications should fall within the protection scope of the present invention.
Claims (10)
1. An industrial robot removes chassis which characterized in that: keep away barrier subassembly (1), switching formula switching-over drive mechanism (2), removal automobile body (3), hold support (4), hold platform (5), battery case (6), rear side removal backup pad (7), rear side wheel (8), rear side motor (9) and front side wheel (10) including launching, launch and keep away barrier subassembly (1) and locate on removing automobile body (3), switching formula switching-over drive mechanism (2) are located on removing automobile body (3), hold support (4) rigid coupling on removing automobile body (3), hold platform (5) rigid coupling on holding support (4), battery case (6) are located on removing automobile body (3), rear side removal backup pad (7) runs through the rigid coupling in the rear side of removing automobile body (3), the fuselage of rear side motor (9) is located between rear side removal backup pad (7), rear side wheel (8) are rotated and are located on rear side removal backup pad (7), the output of rear side motor (9) is connected on rear side wheel (8), switching-over drive mechanism (10) is located on the front side wheel (2).
2. An industrial robot mobile chassis according to claim 1, characterized in that: the switching type reversing transmission mechanism (2) comprises electrorheological fluid (11), a built-in capacitor plate (12), a normally closed button (13), a reversing shaft (14), a solid-liquid conversion container (15), a reversing torsion spring (16), reversing teeth (17), a switching rack (18), a rack guide frame (19), a reversing connecting piece (20), a reversing transmission hole (21), a reversing connecting rod (22), a front side connecting frame (23), a fixed bearing (24) and a front side motor (25), wherein the solid-liquid conversion container (15) is fixedly connected on a mobile vehicle body (3), the electrorheological fluid (11) is filled in the solid-liquid conversion container (15), the built-in capacitor plate (12) is divided into two groups and arranged in the solid-liquid conversion container (15), the reversing shaft (14) is arranged on the solid-liquid conversion container (15) in a penetrating manner, the reversing shaft (14) is rotatably arranged on the mobile vehicle body (3) in a penetrating manner, the reversing shaft (16) is arranged on the reversing shaft (14), the reversing teeth (17) is arranged on the reversing shaft (14), the mobile vehicle body (3) in a manner, the rack guide frame (19) is fixedly connected on the mobile vehicle body (18), the sliding rack guide frame (20) is arranged on the sliding rack guide frame (18), and the reversing shaft (20), the utility model discloses a change over, including switching-over connecting piece (20), fixed bearing (24), front side link (23) and reversing shaft (14), reversing transmission hole (21) divide two sets to locate on reversing connecting piece (20), the bottom of removing automobile body (3) is located in fixed bearing (24), front side link (23) are rotated and are located on fixed bearing (24), the fuselage of front side motor (25) is located on front side link (23), the one end of reversing connection rod (22) articulates on reversing transmission hole (21), the other end of reversing connection rod (22) articulates on front side link (23), normally closed button (13) are located on switching rack (18), electricity is connected between normally closed button (13) and built-in capacitor plate (12).
3. An industrial robot mobile chassis according to claim 2, characterized in that: the ejection obstacle avoidance assembly (1) comprises an ejection counterweight head (26), a sliding ejection block (27), a clamping strip (28), an ejection clamping groove (29), a secondary ejection shell (30), a sliding emission platform (31), sliding emission teeth (32), a sliding emission guide rod (33), an emission guide groove (34), an obstacle avoidance assembly base (35), an ejection spring (36), a spring support (37), an ejection torsion spring (38), an ejection rotating shaft (39), a sector gear (40), an ejection pinion (41), an ejection rack (42), an ejection contact rod (43) and a sliding rod guide frame (44), wherein the obstacle avoidance assembly base (35) is fixedly connected to the side wall of the moving vehicle body (3), the emission guide groove (34) is arranged on the obstacle avoidance assembly base (35), the sliding emission guide rod (33) is embedded and slidably arranged on the emission guide groove (34), the sliding emission platform (31) is fixedly connected to the sliding emission guide rod (33), the sliding emission teeth (32) is arranged at the top of the sliding emission platform (31), the secondary ejection shell (30) is arranged in the sliding emission platform (31), and the sliding emission strip (29) is embedded on the ejection clamping groove (29), the sliding ejection block (27) is fixedly connected to the clamping bar (28), the ejection counterweight head (26) is fixedly connected to the sliding ejection block (27), the spring support (37) is fixedly connected to the obstacle avoidance component base (35), one end of the ejection spring (36) is arranged on the sliding emission platform (31), the other end of the ejection spring (36) is arranged on the spring support (37), the ejection rotating shaft (39) is rotatably arranged on the side wall of the moving vehicle body (3), the sector gear (40) is fixedly connected to the ejection rotating shaft (39) in a penetrating manner, the ejection pinion (41) is fixedly connected to the ejection rotating shaft (39) in a penetrating manner, the ejection torsion spring (38) is arranged on the ejection rotating shaft (39), the sliding guide frame (44) is fixedly connected to the side wall of the moving vehicle body (3), the ejection contact lever (43) is slidably arranged on the sliding guide frame (44) in a penetrating manner, and the ejection rack (42) is arranged on the ejection contact lever (43).
4. An industrial robot mobile chassis according to claim 3, characterized in that: the ejection obstacle avoidance assembly (1) and the switching type reversing transmission mechanism (2) are arranged on two sides of the movable vehicle body (3).
5. An industrial robot mobile chassis according to claim 4, characterized in that: the switching rack (18) is meshed with the reversing teeth (17).
6. An industrial robot moving chassis according to claim 5, characterized in that: the sliding launching teeth (32) are in meshed connection with the sector gear (40), and the ejection pinion (41) is in meshed connection with the ejection rack (42).
7. An industrial robot moving chassis according to claim 6, characterized in that: the battery box (6) is electrically connected with the front side motor (25) and the rear side motor (9).
8. An industrial robot mobile chassis according to claim 7, characterized in that: two groups of rear movable supporting plates (7) are arranged in pairs.
9. An industrial robot mobile chassis according to claim 8, characterized in that: the front side wheel (10) is connected to the output end of the front side motor (25).
10. An industrial robot mobile chassis according to claim 9, characterized in that: the two groups of built-in capacitor plates (12) have opposite polarities.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469734.5A CN115503023B (en) | 2022-11-23 | 2022-11-23 | Industrial robot removes chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211469734.5A CN115503023B (en) | 2022-11-23 | 2022-11-23 | Industrial robot removes chassis |
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| Publication Number | Publication Date |
|---|---|
| CN115503023A true CN115503023A (en) | 2022-12-23 |
| CN115503023B CN115503023B (en) | 2023-05-23 |
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| CN202211469734.5A Active CN115503023B (en) | 2022-11-23 | 2022-11-23 | Industrial robot removes chassis |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905178A (en) * | 2016-05-06 | 2016-08-31 | 吉林大学 | Multifunctional obstacle crossing robot |
| CN108279689A (en) * | 2018-03-29 | 2018-07-13 | 西北农林科技大学 | A kind of chassis control system of greenhouse robot |
| CN109094676A (en) * | 2018-08-22 | 2018-12-28 | 北京理工大学 | A kind of ejection mechanism based on spring energy-storage |
| CN110121985A (en) * | 2019-05-22 | 2019-08-16 | 夏启友 | A kind of energy saving and environment friendly agricultural seeder equipment |
| US20200215697A1 (en) * | 2019-12-24 | 2020-07-09 | Junyi Zhang | Electronic guide dog |
| CN111813114A (en) * | 2020-07-07 | 2020-10-23 | 镇江市高等专科学校 | Intelligent car visual navigation method |
| CN112265005A (en) * | 2020-07-06 | 2021-01-26 | 江苏中工高端装备研究院有限公司 | Chemical safety service robot |
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2022
- 2022-11-23 CN CN202211469734.5A patent/CN115503023B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905178A (en) * | 2016-05-06 | 2016-08-31 | 吉林大学 | Multifunctional obstacle crossing robot |
| CN108279689A (en) * | 2018-03-29 | 2018-07-13 | 西北农林科技大学 | A kind of chassis control system of greenhouse robot |
| CN109094676A (en) * | 2018-08-22 | 2018-12-28 | 北京理工大学 | A kind of ejection mechanism based on spring energy-storage |
| CN110121985A (en) * | 2019-05-22 | 2019-08-16 | 夏启友 | A kind of energy saving and environment friendly agricultural seeder equipment |
| US20200215697A1 (en) * | 2019-12-24 | 2020-07-09 | Junyi Zhang | Electronic guide dog |
| CN112265005A (en) * | 2020-07-06 | 2021-01-26 | 江苏中工高端装备研究院有限公司 | Chemical safety service robot |
| CN111813114A (en) * | 2020-07-07 | 2020-10-23 | 镇江市高等专科学校 | Intelligent car visual navigation method |
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