CN215701657U - Closed walking mechanism for robot - Google Patents
Closed walking mechanism for robot Download PDFInfo
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- CN215701657U CN215701657U CN202121248862.8U CN202121248862U CN215701657U CN 215701657 U CN215701657 U CN 215701657U CN 202121248862 U CN202121248862 U CN 202121248862U CN 215701657 U CN215701657 U CN 215701657U
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Abstract
The utility model belongs to the technical field of industrial robots, and comprises a motor driving unit, a synchronizing unit, a robot bearing platform and a cover body, wherein the robot bearing platform is used for installing a robot, and the motor driving unit drives the robot bearing platform to move by means of the synchronizing unit so as to realize robot walking. The motor driving unit is used as a power source for robot walking, force is transmitted to the first sliding block and the second sliding block through the connecting plate, the first sliding block and the second sliding block respectively drive the motor driving unit to move stably on the first guide rail and the second guide rail, the second sliding block transmits the force to the robot bearing platform through the first L-shaped connecting piece and the first strip-shaped connecting piece and transmits the force to the third sliding block through the first L-shaped connecting piece and the third sliding block, the second sliding block and the third sliding block respectively drive the robot bearing platform to move stably on the second guide rail and the third guide rail, and the second sliding block and the second guide rail are used as a common sliding mechanism to provide a motion guiding effect for the connecting plate and a guiding effect for the robot bearing platform.
Description
Technical Field
The utility model belongs to the technical field of industrial robots, and particularly relates to a closed type walking mechanism for a robot.
Background
At present, domestic industrial robots are gradually popularized in application, and the robots gradually replace manpower in various industries, so that the cost is saved, and the yield and the efficiency can be improved. In order to expand the range of motion of the robot and fully utilize the operation of the robot, peripheral devices such as a traveling mechanism, a position changing mechanism and the like are often added in a factory to assist the robot, the production environment in the factory is complicated and diversified, especially, the field pollution of special industries such as welding, grinding, spraying, carrying and the like is serious, in the conventional robot traveling mechanism, the driving part (motor, speed reducer, gear-rack or screw) and the guiding part (linear guide rail or optical axis) are often half exposed or all exposed in the working environment, water or oil molecules, dust impurities and the like dispersed in the air in the factory building can be attached to the air, in the long-term use, drive and guide part must rust or wearing and tearing, lead to its precision to descend, not only can influence production efficiency, can shorten the life of equipment moreover greatly, influence product quality.
In the prior art, the utility model with application number 202020586531.4 provides a closed running gear for robot, although the drive and the guide part have been protected to avoid external interference, it uses four slide mechanism to realize the drive of robot, has increased technical cost and area, needs to make further improvement.
SUMMERY OF THE UTILITY MODEL
The utility model provides a closed type walking mechanism for a robot, which only uses three guide rails to be matched with each other, and solves the problems that the driving and guiding parts of the existing robot are exposed outside for a long time, the service life is easily polluted, the production efficiency is influenced and the like.
The technical scheme adopted by the utility model is that,
the closed walking mechanism for the robot comprises a motor driving unit, a synchronizing unit, a robot bearing platform and a cover body, wherein the robot bearing platform is used for installing the robot, the motor driving unit drives the robot bearing platform to move by means of the synchronizing unit so as to realize the walking of the robot,
the synchronization unit includes a first synchronization unit for synchronizing the first and second signals,
a connecting plate connected with the motor driving unit,
the first sliding block is arranged on one side of the bottom of the connecting plate and moves horizontally on the first guide rail,
the second sliding block is arranged on the other side of the bottom of the connecting plate and moves horizontally on the second guide rail,
one end of the first L-shaped connecting piece is connected with the second sliding block, the other end of the first L-shaped connecting piece is connected with one end of the first strip-shaped connecting piece, the other end of the first strip-shaped connecting piece is connected with the robot bearing platform, an installation gap is formed between the first L-shaped connecting piece and the first strip-shaped connecting piece,
one end of the strip-shaped connecting piece II is connected with the robot bearing platform, the other end of the strip-shaped connecting piece II is connected with one end of the L-shaped connecting piece II, the other end of the L-shaped connecting piece II is connected with the sliding block III, the sliding block III horizontally moves on the guide rail III, and an installation gap is formed between the L-shaped connecting piece II and the strip-shaped connecting piece II,
the first guide rail, the second guide rail and the third guide rail are arranged on the mechanism base in parallel,
the side wall of the cover body is buckled in the mounting gap.
Furthermore, the synchronous unit further comprises a plurality of connecting plates, the first sliding block is connected with the connecting plates through the connecting plates, the second sliding block is connected with the connecting plates and the first L-shaped connecting piece through the connecting plates, and the third sliding block is connected with the second L-shaped connecting piece through the connecting plates.
Further, the connecting plate is connected with the connecting plate through a bolt.
Further, the cover body includes the side cover body, the tip cover body and support one, the side cover body lock dress is in the installation clearance, the tip cover body sets up both ends around the mechanism base, the side cover body is connected with the tip cover body, support one sets up perpendicularly on the mechanism base, and be located between guide rail one and the guide rail three, support one is connected the top of the side cover body is used for supporting the side cover body.
Further, the motor driving unit comprises a motor and a rack, the rack is fixedly arranged on the mechanism base, the output end of the motor is connected with a first gear, the first gear is meshed with the rack and moves along the rack, and the motor is connected with the connecting plate.
Further, the motor driving unit further comprises a second gear and a second support, the second gear is meshed with the first gear, a rotating shaft of the second gear is connected with the second support, and the second support is connected with the connecting plate.
The working principle and the beneficial effects of the utility model are as follows:
1. the motor driving unit is used as a power source for robot walking, force is transmitted to the first sliding block and the second sliding block through the connecting plate, the first sliding block and the second sliding block respectively drive the motor driving unit to move stably on the first guide rail and the second guide rail, the second sliding block transmits the force to the robot bearing platform through the first L-shaped connecting piece and the first strip-shaped connecting piece, the second sliding block and the third sliding block are respectively arranged on two sides of the robot bearing platform, stable operation of the robot bearing platform is guaranteed, and the second sliding block and the second guide rail are used as a common sliding mechanism, so that a motion guiding effect is provided for the connecting plate, and a guiding effect is also provided for the robot bearing platform.
And 2, an installation gap formed by the first L-shaped connecting piece and the first strip-shaped connecting piece and an installation gap formed by the second L-shaped connecting piece and the second strip-shaped connecting piece are distributed at two sides of the travelling mechanism, and the cover body can be buckled in the two installation gaps, so that the motor driving unit and the three guide rails are protected, and the problem of the reduction of the precision caused by rusting or abrasion due to the attachment of water or oil molecules, dust impurities and the like on the cover body is solved. The production efficiency is improved, the service life of the equipment is prolonged, and the product quality is improved.
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a front view of the internal structure of the present invention;
FIG. 2 is a perspective view of the internal structure of the present invention;
FIG. 3 is an enlarged schematic view of A of FIG. 2 according to the present invention;
FIG. 4 is a schematic perspective view of the present invention;
in the attached drawing, the robot comprises a robot bearing platform 1, a robot bearing platform 2, a connecting plate 3, a first sliding block 4, a first guide rail 5, a second sliding block 6, a second guide rail 7, a first L-shaped connecting piece 8, a first strip-shaped connecting piece 9, an installation gap 10, a second strip-shaped connecting piece 11, a second L-shaped connecting piece 12, a third sliding block 13, a third guide rail 14, a mechanism base 15, a connecting plate 16, a bolt 17, a side cover body 18, an end cover body 19, a first support 20, a motor 21, a rack 22, a first gear 23, a second gear 24 and a second support.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to specific examples and drawings, but the scope and implementation of the present invention are not limited thereto.
the utility model relates to a closed walking mechanism for a robot, which comprises a motor driving unit, a synchronous unit, a robot bearing platform 1 and a cover body, wherein the robot bearing platform 1 is used for installing the robot, the motor driving unit drives the robot bearing platform 1 to move by means of the synchronous unit so as to realize the walking of the robot,
the motor driving unit includes a motor 20 and a rack 21. The motor 20 is fixedly arranged on the mechanism base 14 in a rail way, the output end of the motor 20 is connected with a first gear 22, the first gear 22 is meshed with the rack 21 and moves along the rack 21, the rack 21 is arranged on the mechanism base 14, and the motor 20 is connected with the connecting plate 2 to drive the connecting plate 2 to move;
the synchronous unit comprises a connecting plate 2, a first sliding block 3, a first guide rail 4, a second sliding block 5, a second guide rail 6, a third sliding block 12, a third guide rail 13, a first L-shaped connecting piece 7, a first strip-shaped connecting piece 8, a second L-shaped connecting piece 11, a second strip-shaped connecting piece 10 and a connecting plate 15. The guide rail III 13, the guide rail I4 and the guide rail II 6 are sequentially arranged on the mechanism base 14 in parallel, the sliding block I3 and the sliding block II 5 are respectively arranged on two sides of the bottom surface of the connecting plate 2 through the connecting plate 15 and are respectively arranged on the guide rail I4 and the guide rail II 6, and the connecting plate 2 moves on the guide rail I4 and the guide rail II 6 along with the sliding block I3 and the sliding block II 5 under the action of the motor driving unit; the second sliding block 5 is sequentially connected with the first L-shaped connecting piece 7, the first strip-shaped connecting piece 8 and one side of the robot bearing platform 1 through a connecting plate 15, the other side of the robot bearing platform 1 is sequentially connected with the second strip-shaped connecting piece 10, the second L-shaped connecting piece 11 and the third sliding block 12 are connected together through the connecting plate 15, the third sliding block 12 is arranged on the third guide rail 13, and the robot bearing platform 1 moves on the second guide rail 6 and the third guide rail 13 along with the second sliding block 5 and the third sliding block 12 under the action of the second sliding block 5;
the cover body includes the side cover body 17, the tip cover body 18 and support 19, the side cover body 17 spiral-lock is in two installation clearance 9, the tip cover body 18 sets up both ends around running gear, the side cover body 17 is connected with the tip cover body 18, support 19 is the L shape, and side cover body 17 is connected on one limit, and another limit sets up perpendicularly on mechanism base 14, and support 19 has supported whole cover body, and in this embodiment, it has a plurality of supports 19 to distribute on whole running gear's the route, and support 19 is located between guide rail 4 and the guide rail 13, and when motor drive unit, synchronizing unit and robot bearing platform seesaw, support 19's setting can not lead to the fact the influence to the walking route.
In embodiment 2, as a further improvement, as shown in fig. 2, the connecting plate 2 is detachably connected to the connecting plate 15 by bolts 16. In this embodiment, the connecting plate 2 is connected with the connecting plate 15 through the bolt 16, and when the motor 20 fails, the motor 20 can be conveniently used for driving the connecting plate 2 to be detached together for quality inspection and maintenance.
In embodiment 3, as a further improvement, as shown in fig. 3, the driving unit of the motor 20 further includes a second gear 23 and a second bracket 24, the second gear 23 is engaged with the first gear 22, the second gear 23 is connected to the connecting plate 2 through the second bracket 24, and the second gear 23 provides the connecting plate 2 with a force in the same direction as the moving direction through the second bracket 24. The second gear 23 and the second bracket 24 provide a part of assistance for the motor 20 to drive the connecting plate 2 to move, so that the working efficiency of the whole mechanism is improved.
In order to solve the problem that a driving part and a guide part of a robot walking mechanism are easily damaged by external environment influence, a scheme that a motor driving unit and a guide rail part are protected by a side cover body 17 and a bottom cover body is adopted, and due to the fact that a protective cover is additionally arranged, in order to avoid blocking a walking path of the robot, corresponding effects can be achieved only by using three guide rails in a smart connection mode; then the second sliding block 5 transmits the force to the robot bearing platform 1 through the first L-shaped connecting piece 7 and the first strip-shaped connecting piece 8, and then the force is transmitted to the third sliding block 12, so that the robot bearing platform 1 moves together with the connecting plate 2, and the purpose that the robot is controlled by the motor 20 to walk is achieved. The third slider 12 and the first slider 3 cannot be combined together because the bracket 19 and the mechanism base 14 must be connected to support the whole cover, and a channel is left between the first slider 3 and the third slider 12 to arrange the bracket 19.
Claims (6)
1. The closed type walking mechanism for the robot comprises a motor driving unit, a synchronizing unit, a robot bearing platform (1) and a cover body, wherein the robot bearing platform (1) is used for installing the robot, the motor driving unit drives the robot bearing platform (1) to move by means of the synchronizing unit to realize the walking of the robot,
characterized in that the synchronization unit comprises,
a connecting plate (2) connected with the motor driving unit,
the first sliding block (3) is arranged on one side of the bottom of the connecting plate (2) and moves horizontally on the first guide rail (4),
a second sliding block (5) which is arranged on the other side of the bottom of the connecting plate (2) and moves horizontally on the second guide rail (6),
one end of the L-shaped connecting piece I (7) is connected with the sliding block II (5), the other end of the L-shaped connecting piece I (7) is connected with one end of the strip-shaped connecting piece I (8), the other end of the strip-shaped connecting piece I (8) is connected with the robot bearing platform (1), a mounting gap (9) is formed between the L-shaped connecting piece I (7) and the strip-shaped connecting piece I (8),
a strip-shaped connecting piece II (10), one end of which is connected with the robot bearing platform (1), the other end of which is connected with one end of an L-shaped connecting piece II (11), the other end of the L-shaped connecting piece II (11) is connected with a sliding block III (12), the sliding block III (12) horizontally moves on a guide rail III (13), and an installation gap (9) is formed between the L-shaped connecting piece II (11) and the strip-shaped connecting piece II (10),
the guide rail I (4), the guide rail II (6) and the guide rail III (13) are arranged on the mechanism base (14) in parallel,
the side wall of the cover body is buckled in the mounting gap (9).
2. The closed traveling mechanism for a robot according to claim 1, characterized in that: the synchronous unit further comprises a plurality of connecting plates (15), the first sliding block (3) is connected with the connecting plates (2) through the connecting plates (15), the second sliding block (5) is connected with the connecting plates (2) and the first L-shaped connecting piece (7) through the connecting plates (15), and the third sliding block (12) is connected with the second L-shaped connecting piece (11) through the connecting plates (15).
3. The closed traveling mechanism for a robot according to claim 2, characterized in that: the connecting plate (2) is connected with the connecting plate (15) through a bolt (16).
4. The closed traveling mechanism for a robot according to claim 1, characterized in that: the cover body includes the side cover body (17), the tip cover body (18) and support (19), the side cover body (17) spiral-lock in installation clearance (9), the tip cover body (18) sets up at mechanism base (14) both ends, the side cover body (17) is connected with the tip cover body (18), support (19) set up perpendicularly on mechanism base (14), and be located between guide rail (4) and guide rail (13), support (19) are connected the top of the side cover body (17) is used for supporting the side cover body (17).
5. The closed traveling mechanism for a robot according to claim 1, characterized in that: the motor driving unit comprises a motor (20), a first gear (22) and a rack (21), the rack (21) is fixedly arranged on the mechanism base (14), the first gear (22) is arranged at the output end of the motor (20), the first gear (22) is meshed with the rack (21) and moves along the rack (21), and the motor (20) is arranged on the connecting plate (2).
6. The closed traveling mechanism for a robot according to claim 5, characterized in that: the motor driving unit further comprises a second gear (23) and a second support (24), the second gear (23) is meshed with the first gear (22), a rotating shaft of the second gear (23) is connected with the second support (24), and the second support (24) is connected with the connecting plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121248862.8U CN215701657U (en) | 2021-06-05 | 2021-06-05 | Closed walking mechanism for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121248862.8U CN215701657U (en) | 2021-06-05 | 2021-06-05 | Closed walking mechanism for robot |
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| Publication Number | Publication Date |
|---|---|
| CN215701657U true CN215701657U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121248862.8U Active CN215701657U (en) | 2021-06-05 | 2021-06-05 | Closed walking mechanism for robot |
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| CN (1) | CN215701657U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360783A (en) * | 2020-04-20 | 2020-07-03 | 唐山贺祥机电股份有限公司 | Closed walking mechanism for robot |
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2021
- 2021-06-05 CN CN202121248862.8U patent/CN215701657U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111360783A (en) * | 2020-04-20 | 2020-07-03 | 唐山贺祥机电股份有限公司 | Closed walking mechanism for robot |
| CN111360783B (en) * | 2020-04-20 | 2024-05-17 | 唐山贺祥智能科技股份有限公司 | Closed travelling mechanism for robot |
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