Two-degree-of-freedom joint square tube rail robot driving device

Abstract

The invention relates to the technical field of square tube rail robots, in particular to a two-degree-of-freedom joint square tube rail robot driving device which comprises a supporting base and a supporting plate fixedly connected to one side of the top of the supporting base and further comprises two driving wheels rotationally connected between the top of the supporting base and the interior of the supporting plate. The two driven gears are fixedly connected to the outer portions of the center shafts of the corresponding driving wheels, the gear motor is fixedly connected to the bottom of the supporting plate, an output shaft of the gear motor penetrates through the supporting plate and the driving gear, and the driving gear is fixedly connected to the output shaft of the gear motor. The device has the beneficial effects that on one hand, the speed reducing motor can provide accurate rotating speed control, rotating motion of the motor is converted into linear motion of robot wheels through gear meshing, so that high-precision control over the position and the speed of the robot is achieved, and compared with a traditional device, the operation quality and the use efficiency are greatly improved;

Description

Technical Field

[0001] The invention relates to the technical field of square tube track robots, in particular to a two-degree-of-freedom joint square tube track robot driving device. Background Art

[0002] The square tube track robot is an automated equipment widely used in modern industrial production and logistics warehousing. It moves on a predetermined square tube track to achieve tasks such as handling, assembly, and inspection of items.

[0003] At present, square tube track robots have obvious deficiencies in climbing ability. Most robots can only work normally on smaller slopes, generally not exceeding 15° to 20°. This is mainly due to the following reasons:

[0004] Insufficient driving force. Existing driving mechanisms usually use direct motor drive or simple transmission methods, which cannot provide enough torque to overcome the gravity on large slopes, causing the robot to slip or stop easily when climbing.

[0005] The center of gravity is unstable. When the robot climbs a slope, the front and rear wheels are prone to uneven force due to the change in the center of gravity. This not only affects the stability of the robot, but may also cause the robot to tilt its head or tail, further increasing the difficulty and risk of operation.

[0006] In view of the above problems, we have introduced a two-degree-of-freedom joint square tube track robot drive device. Summary of the invention

[0007] The invention discloses a two-degree-of-freedom joint square tube track robot driving device, aiming to solve the technical problems in the background technology.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A two-degree-of-freedom joint square tube track robot driving device, comprising a supporting base and a supporting plate, wherein the supporting plate is fixedly connected to one side of the top of the supporting base, and also comprises two driving wheels, both of which are rotatably connected between the top of the supporting base and the inside of the supporting plate, two driven gears, both of which are fixedly connected to the outside of the corresponding driving wheel central axis, a reduction motor, which is fixedly connected to the bottom of the supporting plate, and the output shaft of the reduction motor passes through the supporting plate, and a driving gear, which is fixedly connected to the output shaft of the reduction motor, and both of the driving gears are meshed with the driven gears.

[0010] By setting up a support base and a support plate to provide stable mechanical support, the cooperation of the driving wheel and the driven gear ensures the rotational movement of the driving wheel. The reduction motor drives the two driving wheels to rotate synchronously through the meshing of the driving gear and the driven gear, thereby realizing the stable movement of the robot on the square tube track and improving the movement accuracy and reliability.

[0011] In a preferred solution, two sliding grooves are provided on the top of the support base, the interiors of the sliding grooves are slidably connected with sliding blocks, the tops of the sliding blocks are fixedly connected with connecting blocks, and the tops of the connecting blocks are rotatably connected with tensioning wheels.

[0012] The combination of the sliding groove and the sliding block is used to ensure the smooth sliding of the tensioning wheel. The setting of the connecting block and the tensioning wheel can adjust the tension of the transmission belt, ensure the stability and driving efficiency of the transmission belt, and improve the movement accuracy and reliability of the robot.

[0013] In a preferred solution, a spring compression sleeve is fixedly connected to one side of the sliding block, and a rectangular spring is sleeved outside the spring compression sleeve and between the inner wall of the sliding groove and the sliding block.

[0014] By setting a rectangular spring to provide a constant pressing force, the sliding block and the tensioning wheel are always in an ideal position, ensuring the tension of the transmission belt, reducing the relaxation and slippage of the transmission belt, and improving the transmission efficiency and movement stability.

[0015] In a preferred solution, one side of the support base is rotatably connected to two guide bolts, and one end of the guide bolts is threadedly connected to the corresponding spring compression sleeve.

[0016] By setting the guide bolt, the position of the spring sleeve and the sliding block can be fine-tuned by adjusting its position, so as to accurately adjust the tensioning force of the tensioning wheel, ensure the optimal tensioning state of the transmission belt, and improve the stability and reliability of the transmission.

[0017] In a preferred solution, both sides of the support base are fixedly connected with a suspension frame, and the interior of the suspension frame is rotatably connected with two walking wheels.

[0018] By setting up a suspension frame to provide additional support, the walking wheels roll on the square tube track, reducing friction, ensuring the smooth movement of the robot on the track, and improving the robot's movement efficiency and stability.

[0019] In a preferred solution, both sides of the inner wall of the suspension frame are rotatably connected with side limiting wheels, and the bottom of the inner wall of the suspension frame is rotatably connected with lower limiting wheels.

[0020] By setting the side limit wheels and the lower limit wheels, the multi-directional limit of the robot on the square tube track is ensured to prevent the robot from deviating or derailing during movement, thereby improving the stability and safety of the robot on the track.

[0021] In a preferred solution, the support plate and the exterior of the suspension frame are both fixedly connected with protective covers.

[0022] By setting up a protective cover, the internal mechanical parts are protected from external dust and debris, which can extend the service life of the equipment, reduce the noise of moving parts, and improve the safety and comfort of the working environment.

[0023] The two-degree-of-freedom joint square tube track robot driving device provided by the present invention has the following advantages:

[0024] In the present invention, the cooperation of the driving wheel and the driven gear ensures the rotational movement of the driving wheel. The reduction motor drives the two driving wheels to rotate synchronously through the meshing of the driving gear and the driven gear, thereby realizing the stable movement of the robot on the square tube track. On the one hand, the reduction motor can provide precise speed control, and convert the rotational motion of the motor into the linear motion of the robot wheels through gear meshing, thereby realizing high-precision control of the robot position and speed. On the other hand, the reduction motor can significantly increase the output torque by reducing the speed, which means that even on a high-load or inclined track, the robot can maintain sufficient driving force to ensure smooth operation, which greatly improves the operation quality and use efficiency compared with traditional devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a first-perspective stereoscopic schematic diagram of a two-degree-of-freedom joint square tube track robot driving device proposed by the present invention.

[0026] Figure 2 This is a second-view stereoscopic schematic diagram of a two-degree-of-freedom joint square tube track robot driving device proposed by the present invention.

[0027] Figure 3 This is a schematic diagram of the partial structure of a two-degree-of-freedom joint square tube track robot driving device proposed by the present invention.

[0028] Figure 4 This is a schematic diagram of the support base structure of a two-degree-of-freedom joint square tube track robot drive device proposed by the present invention.

[0029] Figure 5 for Figure 3 Enlarged view of point A in the middle.

[0030] In the attached figure: 1. Support base; 2. Support plate; 3. Driving wheel; 4. Driven gear; 5. Reduction motor; 6. Driving gear; 7. Sliding groove; 8. Sliding block; 9. Connecting block; 10. Tensioning wheel; 11. Spring sleeve; 12. Rectangular spring; 13. Guide bolt; 14. Suspension frame; 15. Traveling wheel; 16. Side limit wheel; 17. Lower limit wheel; 18. Protective cover. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and marked in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0032] The invention discloses a two-degree-of-freedom joint square tube track robot driving device which is mainly used in the scenario of square tube track robots.

[0033] Reference Figure 1-Figure 5 A two-degree-of-freedom joint square tube track robot driving device includes a supporting base 1 and a supporting plate 2, the supporting plate 2 is fixedly connected to one side of the top of the supporting base 1, and also includes two driving wheels 3, the two driving wheels 3 are rotatably connected between the top of the supporting base 1 and the inside of the supporting plate 2, two driven gears 4, the two driven gears 4 are fixedly connected to the outside of the central axis of the corresponding driving wheel 3, a reduction motor 5, the reduction motor 5 is fixedly connected to the bottom of the supporting plate 2, and the output shaft of the reduction motor 5 passes through the supporting plate 2, and a driving gear 6 is fixedly connected to the output shaft of the reduction motor 5, and the driving gear 6 is meshed with the driven gear 4.

[0034] In this embodiment: the support base 1 and the support plate 2 provide stable mechanical support, the cooperation of the driving wheel 3 and the driven gear 4 ensures the rotational movement of the driving wheel 3, and the reduction motor 5 drives the two driving wheels 3 to rotate synchronously through the engagement of the driving gear 6 and the driven gear 4, thereby realizing the stable movement of the robot on the square tube track and improving the movement accuracy and reliability.

[0035] In a preferred embodiment, two sliding grooves 7 are opened on the top of the support base 1, and the sliding grooves 7 are slidably connected to the inside of the sliding grooves 7. The tops of the sliding blocks 8 are fixedly connected to the connecting blocks 9, and the tops of the connecting blocks 9 are rotatably connected to the tensioning wheels 10.

[0036] In this embodiment: the combination of the sliding groove 7 and the sliding block 8 ensures the smooth sliding of the tensioning wheel 10. The setting of the connecting block 9 and the tensioning wheel 10 can adjust the tension of the transmission belt, ensure the stability and driving efficiency of the transmission belt, and improve the movement accuracy and reliability of the robot.

[0037] In a preferred embodiment, a spring compression sleeve 11 is fixedly connected to one side of the sliding block 8 , and a rectangular spring 12 is sleeved outside the spring compression sleeve 11 and between the inner wall of the sliding groove 7 and the sliding block 8 .

[0038] In this embodiment, the rectangular spring 12 provides a constant pressing force, so that the sliding block 8 and the tensioning wheel 10 are always in an ideal position, ensuring the tension of the transmission belt, reducing the relaxation and slippage of the transmission belt, and improving the transmission efficiency and movement stability.

[0039] In a preferred embodiment, two guide bolts 13 are rotatably connected to one side of the support base 1 , and one end of the guide bolts 13 is threadedly connected to the corresponding spring compression sleeve 11 .

[0040] In this embodiment, the guide bolt 13 can fine-tune the positions of the spring sleeve 11 and the sliding block 8 by adjusting its position, thereby accurately adjusting the tensioning force of the tensioning wheel 10, ensuring the optimal tensioning state of the transmission belt, and improving the stability and reliability of the transmission.

[0041] In a preferred embodiment, both sides of the support base 1 are fixedly connected with a suspension frame 14 , and the interior of the suspension frame 14 is rotatably connected with two running wheels 15 .

[0042] In this embodiment: the suspension frame 14 provides additional support, and the walking wheels 15 roll on the square tube track to reduce friction, ensure the smooth movement of the robot on the track, and improve the movement efficiency and stability of the robot.

[0043] In a preferred embodiment, both sides of the inner wall of the suspension frame 14 are rotatably connected with side limiting wheels 16 , and the bottom of the inner wall of the suspension frame 14 is rotatably connected with lower limiting wheels 17 .

[0044] In this embodiment, the side limiting wheels 16 and the lower limiting wheels 17 ensure multi-directional limiting of the robot on the square tube track, prevent the robot from deviating or derailing during movement, and improve the stability and safety of the robot on the track.

[0045] In a preferred embodiment, a protective cover 18 is fixedly connected to the outside of the support plate 2 and the suspension frame 14 .

[0046] In this embodiment, the protective cover 18 protects the internal mechanical components from external dust and debris, thereby extending the service life of the equipment, while reducing the noise of moving parts and improving the safety and comfort of the working environment.

[0047] Working principle: When in use, the entire device is suspended on the square tube track, the walking wheel 15 contacts the top of the square tube track, the side limit wheels 16 contact the two sides of the square tube track, and the lower limit wheel 17 contacts the bottom of the square tube track to ensure stable support and guidance of the device. By adjusting the guide bolt 13, the position of the spring compression sleeve 11 can be adjusted, and then the position of the sliding block 8 can be adjusted to make the tensioning wheel 10 close to the square tube track, increase the friction between the driving wheel 3 and the square tube track, and ensure the stable movement of the device. The rectangular spring 12 provides tensioning force, and the output shaft of the reduction motor 5 rotates, driving the driving gear 6 to rotate The driving gear 6 meshes with the driven gear 4 to rotate the driven gear 4. The rotation of the driven gear 4 rotates the corresponding driving wheel 3. The driving wheel 3 contacts the inner surface of the square tube track, and the friction force causes the entire device to move along the square tube track. The protective cover 18 outside the support plate 2 and the suspension frame 14 protects the internal mechanical parts to prevent dust and debris from entering, thereby extending the service life of the equipment and significantly increasing the output torque. This means that even on a high-load or inclined track, the robot can maintain sufficient driving force to ensure smooth operation, greatly improving the operation quality and use efficiency compared to traditional devices.

[0048] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. The replacement may be a replacement of a part of the structure, device, method step, or a complete technical solution. Any equivalent replacement or change according to the technical solution and the inventive concept of the present invention shall be covered within the protection scope of the present invention.

Claims

1. A two-degree-of-freedom joint square tube track robot driving device, comprising a support base (1) and a support plate (2), wherein the support plate (2) is fixedly connected to one side of the top of the support base (1), characterized in that: Also includes: Two driving wheels (3), both of which are rotatably connected between the top of the support base (1) and the inside of the support plate (2); Two driven gears (4), the two driven gears (4) being fixedly connected to the outside of the central axis of the corresponding driving wheel (3); A reduction motor (5), the reduction motor (5) being fixedly connected to the bottom of the support plate (2), and the output shaft of the reduction motor (5) passing through the support plate (2); A driving gear (6), wherein the driving gear (6) is fixedly connected to the output shaft of the reduction motor (5), and the driving gear (6) is meshedly connected with the driven gear (4).

2. A two-degree-of-freedom joint square tube track robot driving device according to claim 1, characterized in that: The top of the support base (1) is provided with two sliding grooves (7), the interiors of the sliding grooves (7) are slidably connected to sliding blocks (8), the tops of the sliding blocks (8) are fixedly connected to connecting blocks (9), and the tops of the connecting blocks (9) are rotatably connected to tension wheels (10).

3. A two-degree-of-freedom joint square tube track robot driving device according to claim 2, characterized in that: A spring compression sleeve (11) is fixedly connected to one side of the sliding block (8), and a rectangular spring (12) is sleeved on the outside of the spring compression sleeve (11) and between the inner wall of the sliding groove (7) and the sliding block (8).

4. A two-degree-of-freedom joint square tube track robot driving device according to claim 3, characterized in that: Two guide bolts (13) are rotatably connected to one side of the support base (1), and one end of each guide bolt (13) is threadedly connected to a corresponding spring compression sleeve (11).

5. The two-degree-of-freedom joint square tube track robot driving device according to claim 1, characterized in that: Both sides of the support base (1) are fixedly connected to a suspension frame (14), and the interior of the suspension frame (14) is rotatably connected to two running wheels (15).

6. A two-degree-of-freedom joint square tube track robot driving device according to claim 5, characterized in that: Both sides of the inner wall of the suspension frame (14) are rotatably connected to side limiting wheels (16), and the bottom of the inner wall of the suspension frame (14) is rotatably connected to lower limiting wheels (17).

7. The two-degree-of-freedom joint square tube track robot driving device according to claim 5, characterized in that: The outsides of the support plate (2) and the suspension frame (14) are both fixedly connected with a protective cover (18).

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