CN117656091A - Latent robot - Google Patents
Latent robot Download PDFInfo
- Publication number
- CN117656091A CN117656091A CN202311637163.6A CN202311637163A CN117656091A CN 117656091 A CN117656091 A CN 117656091A CN 202311637163 A CN202311637163 A CN 202311637163A CN 117656091 A CN117656091 A CN 117656091A
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- gear
- lifting platform
- driving
- fixed
- latent
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- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a hidden robot which comprises a steering device, a transmission device, a lifting platform, a chassis, an outer shell body and a driving device, and further comprises more than two screw rods, wherein the lifting platform is arranged on the chassis, the screw rods are arranged at opposite angles of the lifting platform, one ends of the screw rods penetrate through the lifting platform and are fixed on the chassis, the steering device is fixed on the lifting platform, the driving device is arranged on the lifting platform and is positioned below the steering device, the transmission device comprises more than two worms, a first gear and a second gear, the worms are fixed on the lifting platform through fixing pieces, one ends of the worms are clamped with the first gear, the other ends of the worms are in external meshed connection with the second gear, the driving device is in external meshed connection with the first gear to drive the transmission device to rotate, and the second gear is sleeved on the screw rods through thrust bearings and is in threaded connection with the screw rods to drive the lifting platform to lift.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a hidden robot.
Background
The existing hidden mobile robot is dedicated to the intelligent processing production line to be built, is used for carrying factory materials and finished products, achieves efficient distribution of the materials, gives the production line greater flexibility, however, the traditional hidden mobile robot is limited in rated lifting height, high in dead weight, unstable in structure, complex in control, difficult in stable control of lifting speed moving precision, incapable of accurately butt-jointing and conveying the processed materials, and incapable of achieving utilization of multiple processing scenes.
The patent document with the publication date 2022.04.05, chinese patent application No. 202122570069.6, discloses a latent transfer robot, comprising: a robot body and a jacking structure; the jacking structure is arranged at the upper part of the robot main body; the robot body includes: the vehicle comprises a vehicle disc main body, a driving wheel, a controller, a digital converter, a driving motor, a voice prompter, a first battery and a second battery; the jacking structure is arranged on the chassis main body; the driving wheel is rotatably connected to the chassis main body; the driving motor is arranged on the chassis main body, and a motor shaft of the driving motor is connected to the driving wheel so as to drive the driving wheel; the controller is connected to the driving motor through the digital converter in a communication way; the voice prompter is connected to the controller in a communication way; the first battery is electrically connected to the controller, the digitizer, the driving motor and the voice prompter.
The structure of the patent document is flexible in operation, the jacking structure is convenient to insert into the lower part of the goods for jacking and carrying operation, the installation layout of the internal structure is simple, the electric structure and the driving structure are separately installed, mutual interference is avoided, and the stability of the electric structure is higher; but jacking mounting bracket in this structure is connected with jacking motor through the jacking subassembly that constitutes link mechanism by axle and pole, and structure lifting height is lower, and the jacking amplitude is little, and does not have self-locking function after the jacking, has when the heavy thing pushes down on the jacking subassembly, and stability is relatively poor.
Disclosure of Invention
The invention aims to provide a hidden robot which is compact in structure, light in weight, stable in load capacity, simple and convenient to operate and simultaneously has a self-locking function.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a formula robot of hiding, includes turning to device, transmission, lift platform, chassis, drive arrangement, still includes the lead screw more than two, lift platform sets up on the chassis, lift platform's diagonal angle department is equipped with the lead screw and the one end of lead screw passes lift platform and fixes on the chassis, turning to the device and fixing on lift platform, drive arrangement sets up on lift platform and is located the below of turning to the device, transmission includes more than two worms, first gear and second gear, the worm passes through the mounting to be fixed on lift platform, the one end and the center joint of first gear of worm, the other end and the external gearing of second gear are connected, drive arrangement and external gearing are connected and are driven transmission and are rotated, the second gear cup joints on the lead screw and drive lift platform through thrust bearing and with lead screw threaded connection.
According to the arrangement, the screw rods are arranged at the opposite corners of the lifting platform, so that the flatness and the stability of the lifting platform are better in the process of driving the lifting platform to lift up and down along the screw rods; the lifting platform is provided with the steering device, and after the lifting platform drives the material to lift to a specified height, the steering device can be driven to rotate, so that the material is driven to rotate to different directions, and the material is convenient to unload; the driving device is arranged on the lifting platform and is positioned below the steering device, so that the driving device can conveniently drive the transmission device to rotate; in addition, two ends of the worm are connected with the first gear and the second gear respectively, and the second gear is sleeved on the screw rod through the thrust bearing, so that under the driving of the driving device, the first gear rotates to drive the worm to rotate, and the worm is connected with the second gear in an external meshed manner, so that the worm is similar to the worm gear in structure, has a self-locking function when lifting is stopped, can effectively improve the stability of the lifting platform in the material unloading process, and when in transmission, the worm drives the second gear to rotate, so that the second gear is in spiral connection with the screw rod, and the lifting platform is driven to stably lift along the screw rod, so that the lifting platform has stable load capacity.
Further, the steering device comprises a first driving motor, an output gear, a slewing bearing, a supporting plate and a supporting frame, wherein the first driving motor is fixed on the supporting plate through a fixing plate, the output end of the first driving motor is rotationally connected with the output gear, and the output gear is rotationally connected with the outer side of the slewing bearing in an external meshed mode.
The first driving motor is fixed on the supporting plate through the fixing plate, and the output gear is driven to rotate through the driving motor, so that the slewing bearing is driven to rotate.
Further, the bottom of the support frame is fixed on the lifting platform through a fixed seat, the top of the support frame is fixedly connected with the support plate, a rolling bearing is arranged on the support plate, a slewing bearing is sleeved on the rolling bearing, and a supporting plate is arranged on the slewing bearing.
The rotary bearing is arranged on the support frame, and the support plate is fixed on the support frame, so that the rolling bearing is arranged on the support plate conveniently, and the rotary bearing can be sleeved on the rolling bearing to realize rotation.
Further, the driving device comprises a second driving motor, a driving gear, a motor fixing frame and a gear fixing frame, wherein the motor fixing frame and the gear fixing frame are respectively fixed on the lifting platform, the second driving motor is fixed on the motor fixing frame, one end of the driving gear is connected with the output end of the second driving motor in a clamping mode through a key, and the other end of the driving gear is connected with the gear fixing frame in a rotating mode through a bearing.
The driving gear can be driven to rotate on the gear fixing frame by the rotation of the driving motor II.
Further, an opening matched with the first gear is formed in the lifting platform, and the opening is located below the driving gear and is relatively parallel to the driving gear.
The arrangement is convenient for the first gear to pass through the opening and then to realize external engagement rotation connection with the driving gear, so that the driving gear can drive the first gear to rotate.
Further, the fixing piece is provided with more than two, the fixing piece is arranged at two ends of the worm and fixes the worm on the lifting platform through bolts, the worm is coaxial and oppositely arranged, and the second gears are positioned at two sides of the other end of the worm and are in external meshed rotation connection with the worm.
Above setting can be with stable fixing of worm on lift platform, and just set up two coaxial and relative, drives first gear through the gear like this and rotate the back, can drive two worm synchronous rotations simultaneously, because the second gear sets up in the both sides of worm, and then just can drive the second gear through the worm and rotate.
Further, the outside of footstep bearing is equipped with more than one lug, and the lug outwards extends protrusion and dislocation set are equipped with lug assorted breach on the second gear, and the lug card is gone into in the breach makes the second gear joint on the footstep bearing.
The arrangement is that when the worm drives the second gear to rotate, the lug is clamped into the notch, so that the second gear drives the thrust bearing to synchronously rotate.
Further, more than two through holes matched with the screw rods are formed in the diagonal positions of the lifting platform.
Above setting is convenient for the lead screw to pass lift platform like this for lift platform can realize reciprocating along the length direction of lead screw.
Further, the first gear is arranged in the opening and penetrates through the lifting platform, and the first gear is clamped with one end of the worm through a key.
By the arrangement, the first gear can be ensured to be connected with the worm in a clamping manner, and meanwhile, the first gear can penetrate through the opening to be in external meshed rotary connection with the driving gear.
Further, the chassis is provided with more than two driving wheels, driven wheels and driving motors, the driving motors are coaxially and oppositely arranged on two sides of the chassis, the output ends of the driving motors are rotationally connected with the driving wheels, and the driven wheels are oppositely arranged at the front end and the rear end of the chassis in a staggered mode.
The driving wheel is driven by the driving motor to rotate, and the driven wheel synchronously rotates along with the driving wheel under the driving of the driving wheel, so that the chassis can be driven to move.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic view of the chassis structure in the present invention.
Fig. 3 is an exploded view of the internal structure of the present invention.
Fig. 4 is a partial exploded view of the internal structure of the present invention.
Fig. 5 is a partial exploded view of another view of the internal structure of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 5, a hidden robot includes a steering device, a transmission device, a lifting platform 1, a chassis 2, an outer casing 3, a driving device and more than two screw rods 4, where the lifting platform 1 is disposed on the chassis 2, in this embodiment, the screw rods 4 are set to 4, the diagonal position of the lifting platform 1 is provided with 4 through holes (not shown in the drawing) matched with the screw rods 4, one ends of the 4 screw rods 4 respectively pass through the through holes of the lifting platform 1 and are fixedly disposed on the chassis 2, the steering device is fixed on the lifting platform 1, the driving device is disposed on the lifting platform 1 and is located below the steering device, the transmission device is disposed inside the lifting platform 1, two driving wheels 21, driven wheels 22 and driving motors 23 are disposed on the chassis 2 coaxially and relatively on two sides of the chassis 2, the output ends of the driving motors 23 are rotationally connected with the driving wheels 21, the two driven wheels 22 are disposed at front and rear ends of the chassis 2 in a dislocation manner, so that the driving wheels 21 can be driven by the driving motors 23, and the driving wheels 21 can be driven by the driving wheels 21 to move synchronously along with the driving wheels 21.
As shown in fig. 4, the steering device includes a first driving motor 31, an output gear 32, a slewing bearing 33, a supporting plate 34 and a supporting frame 35, where the first driving motor 31 is fixed at one end of the fixing plate 36 by a bolt, the other end of the fixing plate 36 is fixed at one side of the supporting plate 34 by a bolt, the output end of the first driving motor 31 is rotationally connected with the output gear 32, the bottom of the supporting frame 35 is fixed on the lifting platform 1 by a fixing seat 37, the top of the supporting frame 35 is fixedly connected with the bottom of the supporting plate 34, a rolling bearing 38 is arranged on the top of the supporting plate 34, the slewing bearing 33 is sleeved on the rolling bearing 38, a supporting plate 39 is fixed on the slewing bearing 33, the output gear 32 is rotationally connected with the outer side of the slewing bearing 33 in an external meshed manner, so that the first driving motor 31 can be fixed on the supporting plate 34 by the fixing plate 36, and the first driving motor 31 drives the output gear 32 to rotate, and then drives the slewing bearing 33 to rotate, thereby driving the supporting plate 39 to rotate at different angles.
As shown in fig. 4, the driving device includes a driving gear 41, a second driving motor 42, a motor fixing frame 43 and a gear fixing frame 44, where the motor fixing frame 43 and the gear fixing frame 44 are fixed on the lifting platform 1 by bolts, a round hole (not shown in the drawing) is formed in the gear fixing frame 44, a bearing 46 is formed in the round hole, the second driving motor 42 is fixed on the motor fixing frame 43 by bolts, one end of the driving gear 41 is clamped with an output end of the second driving motor 42 by a key (not shown in the drawing), the other end of the driving gear 41 is rotationally connected with the gear fixing frame 44 by the bearing 46, an opening 53 matched with the first gear 51 is formed in the lifting platform 1 below the driving gear 41, and meanwhile, an opening 53 is formed in the chassis 2 and is relatively parallel to the opening 53, so that after the first gear 51 passes through the opening 53, the second driving motor 42 can rotate to drive the driving gear 41 to rotate on the gear fixing frame 44, and the driving gear 41 is rotationally connected with the first gear 51 in an external engaged mode.
As shown in fig. 4 to 5, the transmission device comprises more than two fixing members 54, 4 worms 55, a first gear 51 and a second gear 52, in this embodiment, the number of fixing members 54 is 4, the number of worms 55 is 2, the number of first gears 51 is 2, the number of second gears 52 is 4, the fixing members 54 are arranged at both ends of the worms 55 and fix the worms 55 on the lifting platform 1 through bolts, the 2 worms 55 are coaxially and oppositely arranged, one end of each worm 55 is clamped with the first gear 51 through a key (not shown), both ends of each driving gear 41 are respectively in external meshed connection with the first gears 51 arranged in the openings 53, the other end of each worm 55 is provided with threads matched with the second gears 52, the second gears 52 arranged at both sides of the other end of each worm 55 are respectively in external meshed connection with the worm 55, the second gears 52 are clamped on the thrust bearings 56, in the embodiment, 2 protruding blocks 57 are arranged on the outer side of the thrust bearing 56, the protruding blocks 57 extend outwards to protrude and are arranged in a staggered mode, a notch 59 matched with the protruding blocks 57 is arranged on the second gear 52, the protruding blocks 57 are clamped into the notch 59 to enable the second gear 52 to be clamped on the thrust bearing 56, the thrust bearing 56 is sleeved on the screw rod 4 and is in threaded connection with the screw rod 4, in the embodiment, one end of the thrust bearing 56 protrudes upwards along the length direction of the screw rod 4 to form a protruding part 58, the outer side of the protruding part 58 is sleeved with the rolling bearing 38, in this way, in the process of moving the lifting platform 1 up and down along the length direction of the screw rod 4, the thrust bearing 56 can be protected, further the influence on the up and down movement of the lifting platform 1 is avoided, in the embodiment, in the process of driving the lifting platform 1 to lift through the threaded connection of the second gear 52 and the screw rod 4, the driving motor II 42 can drive the driving gear 41 to drive the slewing bearing 33 and the supporting plate 39 to rotate at different angles.
In this embodiment, a working method of the latent robot includes the following specific steps:
s1, after a material is placed on a supporting plate, starting a driving motor to enable a robot to convey the material to a designated position according to a preset route;
s2, after the second driving motor 42 is started up to a specified position, the driving gear 41 drives the first gear 51 to rotate on the gear fixing frame, then the first gear 51 drives the worm 55 to rotate, the worm drives the second gear 52 to rotate, and finally the second gear 52 is in threaded connection with the screw rod 4 through the thrust bearing 56 to drive the lifting platform to rise to a preset height;
s3, starting a first driving motor 31, enabling an output gear 32 to drive a slewing bearing to rotate, further driving a supporting plate 39 to rotate to a preset angle, and then discharging;
s4, after material unloading is completed, the first driving motor 31 reversely rotates to enable the supporting plate 39 to rotate and reset, then the second driving motor 42 reversely rotates to enable the second gear 52 to be in threaded connection with the screw rod through the thrust bearing 56 to drive the lifting platform to descend and reset, and therefore the robot completes material carrying.
Claims (10)
1. The utility model provides a robot of hiding, includes turning to device, transmission, lift platform, chassis and drive arrangement, its characterized in that: the lifting platform is arranged on the chassis, the screw rod is arranged at the diagonal position of the lifting platform, one end of the screw rod penetrates through the lifting platform to be fixed on the chassis, the steering device is fixed on the lifting platform, the driving device is arranged on the lifting platform and located below the steering device, the transmission device comprises more than two worms, a first gear and a second gear, the worms are fixed on the lifting platform through fixing pieces, one ends of the worms are connected with the first gear in a clamping mode, the other ends of the worms are connected with the second gear in an external meshed mode, the driving device is connected with the first gear in an external meshed mode to drive the transmission device to rotate, and the second gear is sleeved on the screw rod through a thrust bearing and is in threaded connection with the screw rod to drive the lifting platform to lift.
2. A latent robot according to claim 1, characterized in that: the steering device comprises a first driving motor, an output gear, a slewing bearing, a supporting plate and a supporting frame, wherein the first driving motor is fixed on the supporting plate through a fixing plate, the output end of the first driving motor is rotationally connected with the output gear, and the output gear is rotationally connected with the outer side of the slewing bearing in an external meshed mode.
3. A latent robot according to claim 2, characterized in that: the bottom of the support frame is fixed on the lifting platform through a fixed seat, the top of the support frame is fixedly connected with a support plate, a rolling bearing is arranged on the support plate, a slewing bearing is sleeved on the rolling bearing, and a supporting plate is arranged on the slewing bearing.
4. A latent robot according to claim 1, characterized in that: the driving device comprises a driving motor II, a driving gear, a motor fixing frame and a gear fixing frame, wherein the motor fixing frame and the gear fixing frame are respectively fixed on the lifting platform, the driving motor II is fixed on the motor fixing frame, one end of the driving gear is connected with the output end of the driving motor II in a clamping way through a key, and the other end of the driving gear is connected with the gear fixing frame in a rotating way through a bearing.
5. A latent robot according to claim 4, wherein: the lifting platform is provided with an opening matched with the first gear, and the opening is positioned below the driving gear and is relatively parallel to the driving gear.
6. A latent robot according to claim 1, characterized in that: the fixed part is provided with more than two, the fixed part is arranged at two ends of the worm and fixes the worm on the lifting platform through bolts, the worm is coaxial and oppositely arranged, and the second gear is positioned at two sides of the other end of the worm and is in external meshed rotation connection with the worm.
7. A latent robot according to claim 1, characterized in that: the outer side of the thrust bearing is provided with more than one lug which extends outwards to protrude and is arranged in a staggered mode, the second gear is provided with a notch matched with the lug, and the lug is clamped into the notch to enable the second gear to be clamped on the thrust bearing.
8. A latent robot according to claim 5, wherein: more than two through holes matched with the screw rods are formed in the opposite corners of the lifting platform.
9. A latent robot according to claim 1, characterized in that: the first gear is arranged in the opening and penetrates through the lifting platform, and is clamped with one end of the worm through a key.
10. A latent robot according to claim 1, characterized in that: the chassis is provided with more than two driving wheels, driven wheels and driving motors, the driving motors are coaxially and oppositely arranged on two sides of the chassis, the output ends of the driving motors are rotationally connected with the driving wheels, and the driven wheels are oppositely arranged at the front end and the rear end of the chassis in a staggered mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311637163.6A CN117656091A (en) | 2023-12-01 | 2023-12-01 | Latent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311637163.6A CN117656091A (en) | 2023-12-01 | 2023-12-01 | Latent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117656091A true CN117656091A (en) | 2024-03-08 |
Family
ID=90065515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311637163.6A Pending CN117656091A (en) | 2023-12-01 | 2023-12-01 | Latent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117656091A (en) |
-
2023
- 2023-12-01 CN CN202311637163.6A patent/CN117656091A/en active Pending
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