Walking robot

Abstract

The invention relates to a walking robot. The walking robot comprises a ground rail and a robot assembly, wherein the ground rail is formed by sequentially splicing a plurality of ground rail units; each ground rail unit comprises a main body which comprises a first rail rod, a second rail rod, a connecting rod, a guide rail, a rack, a supporting piece and a protection piece. The first rail rod and the second rail rod are parallel to each other and are arranged at an interval; the connecting rod is connected between the first rail rod and the second rail rod; guide rails are connected to the sides, close to each other, of the first rail rod and the second rail rod; a rack is connected to the side, away from the other rail rod, of any one of the first rail rod and the second rail rod in a matched mode. The supporting piece and the protection piece are connected to the opposite side faces of the first rail rod and the second rail rod in a matched mode correspondingly, and the supporting piece is used for supporting a drag chain of the robot assembly. The supporting piece is connected to the outer side of the main body in a matched mode, the space needed for assembling the supporting piece to the inner side of the main body and the structure and materials needed for forming the space can be omitted, and therefore the size of the ground rail is reduced, and the material cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of robot walking tracks, and in particular to a walking robot. Background Art

[0002] With the continuous development of technology in various industries, the demand for automation is becoming more and more urgent. Letting robots work instead of manual labor can not only improve work efficiency, but also effectively reduce the occurrence of safety accidents. Therefore, more and more industries are gradually investing in automated production, and the market demand for walking robots is also constantly expanding.

[0003] At present, the structure of a walking robot usually includes a ground rail and a robot component that is movable and connected to the ground rail. In automated production, the robot component can be controlled to move on the ground rail, thereby expanding the operating range of the walking robot and improving production efficiency. As a technical component of the walking robot, the ground rail is used to bear the load of the robot component during the actual operation process to ensure the smooth movement of the robot component.

[0004] Therefore, for the ground rail, the structure of the ground rail usually needs to be compatible with the structure of the walking robot, for example, the ground rail includes a guide rail slidably connected to the walking robot, a rack meshed with the walking robot, etc. However, in the current ground rail structure, the layout between the structure of the ground rail and the walking robot that cooperates with each other is unreasonable, which makes the size of the ground rail too large, thereby increasing the production cost of the ground rail. Summary of the invention

[0005] Based on this, in order to solve the above technical problems, a walking robot is provided.

[0006] A walking robot, comprising a ground rail formed by sequentially splicing a plurality of ground rail units and a robot component movably connected to the ground rail; each of the ground rail units comprises:

[0007] Subject, including:

[0008] A first track bar, a second track bar and a connecting bar, wherein the first track bar and the second track bar are parallel to each other and spaced apart, and the connecting bar is connected between the first track bar and the second track bar;

[0009] A guide rail, wherein the first track rod and the second track rod are both connected to each other on one side thereof, and each of the guide rails is used for sliding connection with the robot assembly;

[0010] a rack, wherein the rack is connected to a side of either the first track bar or the second track bar facing away from the other, and each of the racks is used to mesh with the robot assembly; and

[0011] A support member and a protective member, wherein the support member and the protective member are respectively connected to the sides of the first track rod and the second track rod that are away from each other, and the support member is used to support the drag chain of the robot assembly.

[0012] In one of the embodiments, it further includes a reinforcement member and a dustproof assembly, wherein the reinforcement member is connected to the connecting rod; the dustproof assembly is connected to the reinforcement member and a spacing cover is disposed above the main body.

[0013] In one embodiment, there are plural connecting rods and reinforcing members, all of the connecting rods are arranged at intervals along the longitudinal direction of the ground rail unit, and each of the connecting rods is equipped with at least one reinforcing member.

[0014] In one embodiment, the dustproof assembly includes a plurality of dustproof parts, all of which are connected in sequence along the longitudinal direction of the ground rail unit and are respectively matched with the corresponding reinforcement parts, and all of the dustproof parts are jointly constructed to form a dustproof surface facing the surface of the ground rail unit, and the dustproof surface spacing cover is arranged above the ground rail unit.

[0015] In one embodiment, the robot assembly includes a mounting seat, a robot body and a drag chain, the mounting seat is used to be movably connected to the ground rail, and the surface of the mounting seat facing away from the ground rail is used to assemble the robot body; the drag chain is connected to the mounting seat, at least the drag chain extends out of the mounting seat and is movably placed on the support member.

[0016] In one embodiment, the mounting seat includes a baffle and side plates matched to opposite sides of the baffle, and ends of the two side plates facing away from the baffle are bent toward a side close to each other to form a connecting portion, and the sliding member is matched to a side of the connecting portion facing away from the side plate;

[0017] The mounting seat is movably covered on the dustproof component, the connecting portion extends into the gap between the dustproof component and the ground rail, and the sliding member is slidably connected to the guide rail.

[0018] In one embodiment, one end of the connecting portion along the longitudinal direction of the floor rail protrudes out of the side plate and is configured to form a mounting portion;

[0019] The robot assembly further includes a motor, a reducer and a helical gear. The motor, the reducer and the gear are all connected to the mounting portion, and the gear is used to mesh with the rack.

[0020] In one embodiment, the robot component further includes a carrier component, one end of which is fixedly connected to the mounting seat, and the other end of which is movably connected to the ground rail, and the surface of the carrier component facing away from the ground rail is used for placing the workpiece.

[0021] In one embodiment, the object-carrying component includes a connecting seat and an object-carrying member, the connecting seat includes a first connecting member and a second connecting member, one end of the first connecting member is fixedly connected to the mounting seat, the other end of the first connecting member extends out of the mounting seat and is matched with the second connecting member, the second connecting member is movably matched with the ground rail, and the object-carrying member is matched with the first connecting member and the second connecting member respectively.

[0022] In one embodiment, the object carrier includes a frame body, at least two supporting parts and a first limiting part, all of the supporting parts are arranged at intervals along the longitudinal direction of the ground rail on the surface of the frame body away from the ground rail, and are used to support the workpiece;

[0023] The first limiting portion is matched to the supporting portion and corresponds to the supporting portion one by one, and at least two adjacent first limiting portions are spaced apart along the width direction of the ground rail to jointly limit the movement of the workpiece along the width direction of the ground rail.

[0024] In one embodiment, the object carrier also includes a second limiting portion and a clamping member, and the clamping member and the second limiting portion are respectively arranged on opposite sides of all the supporting portions along the longitudinal direction of the ground rail, and are spaced apart from the corresponding adjacent supporting portions; the clamping member is used for controlled pushing of the workpiece along the longitudinal direction of the ground rail toward the second limiting portion until it abuts against the second limiting portion.

[0025] In one of the embodiments, the object carrier assembly further includes an information entry device, and the information entry device is connected to the object carrier.

[0026] In one embodiment, the robot assembly further comprises a chip tray, and the chip tray is respectively covered on the surface of the mounting seat and the connecting seat away from the ground rail;

[0027] The ground rail unit also includes a drainage trough, which is matched with the first track rod and the second track rod on the side away from each other, and the drainage trough is exposed outside the protection component and is correspondingly connected to the edge of the chip receiving tray.

[0028] The walking robot includes a ground rail formed by sequentially splicing a number of ground rail units and a robot assembly movably connected to the ground rail; each ground rail unit includes a main body, and the main body includes a first track rod, a second track rod, a connecting rod, a guide rail, a rack, a support member and a protective member. The first track rod and the second track rod are parallel to each other and spaced apart, and the connecting rod is connected between the first track rod and the second track rod; the first track rod and the second track rod are both connected to the side close to each other with a guide rail, and each guide rail is used for sliding connection with the robot assembly; the side of the first track rod and the second track rod facing away from the other is connected with a rack, and each rack is used for meshing with the robot assembly; the support member and the protective member are respectively connected to the side of the first track rod and the second track rod facing away from each other, and the support member is used to support the drag chain of the robot assembly. The support member is connected to the outside of the main body, which can save the space required for the support member to be assembled on the inside of the main body and the structure and materials required to form the space, thereby reducing the volume of the ground rail to reduce material costs. Moreover, the ground rail unit has achieved standardized production, which is convenient for production and manufacturing and helps to save processing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a schematic diagram of the structure of a walking robot in the present application.

[0030] FIG. 2 is a schematic diagram of the structure of the ground rail in this application.

[0031] FIG3 is a schematic diagram of the structure of the mounting base, motor and reducer assembly in the present application.

[0032] FIG. 4 is a schematic diagram of the structure of the object-carrying assembly in the present application.

[0033] Reference numerals

[0034] Walking robot 100;

[0035] Ground track 200;

[0036] Ground rail unit 20; first rail rod 201; second rail rod 202; connecting rod 203; guide rail 204; rack 205; support member 206; protective member 207; reinforcement member 208; dustproof assembly 209; dustproof member 2091;

[0037] Robot assembly 300;

[0038] Mounting seat 30; baffle 301; side plate 302; connecting portion 303; mounting portion 304;

[0039] Carrying assembly 31;

[0040] Connecting seat 311; first connecting member 3111; second connecting member 3112;

[0041] The object carrier 312; the frame body 3121; the support portion 3122; the first limiting portion 3123; the second limiting portion 3124; the clamping member 3125;

[0042] Information entry device 313;

[0043] Robot body 32 ; motor 33 ; reducer 34 ; chip tray 35 . DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0045] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0046] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0047] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0048] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0049] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0050] With the continuous development of technology in various industries, the demand for automation is becoming more and more urgent. Letting robots work instead of manual labor can not only improve work efficiency, but also effectively reduce the occurrence of safety accidents. Therefore, more and more industries are gradually investing in automated production, and the market demand for walking robots is also constantly expanding.

[0051] At present, the structure of a walking robot usually includes a ground rail and a movable connection with a robot component on the ground rail. In automated production, the robot component can be equipped with accessories with different functions according to actual needs, so as to be widely used in a variety of different work scenarios. For example, the robot component can be equipped with accessories with corresponding functions according to different work needs such as loading and unloading workpieces, welding, painting, and assembly, so as to flexibly adapt to a variety of different work scenarios. The robot component can be controlled to move on the ground rail, thereby expanding the operating range of the walking robot and helping to improve production efficiency.

[0052] In the above structure, the ground rail is a technical component of the walking robot, and is used to bear the load of the robot components during the actual operation process to ensure the smooth movement of the robot components. Therefore, for the ground rail, the structure of the ground rail usually needs to be compatible with the structure of the walking robot, for example, the ground rail includes a guide rail that is slidably connected to the walking robot, a rack that meshes with the walking robot, etc. However, in the current ground rail structure, the layout between the ground rail and the structure of the walking robot that cooperates with each other is unreasonable, which makes the size of the ground rail too large, thereby increasing the production cost of the ground rail.

[0053] Based on the above considerations, in order to solve the above technical problems, one or more embodiments of the present application provide a walking robot 100, which includes a ground rail 200 formed by sequentially splicing a plurality of ground rail units 20 and a robot component 300 movably connected to the ground rail 200. By adjusting the structural layout of the ground rail 200 to reduce the width of the ground rail 200, the material cost is reduced, and the standardized production of the ground rail 200 can be achieved, saving the processing cost of the ground rail 200.

[0054] Specifically, in the present application, referring to FIG. 1 and FIG. 2 , the ground rail 200 includes a main body, which includes a first track bar 201, a second track bar 202, a connecting rod 203, a guide rail 204, a rack 205, a support member 206 and a protective member 207. The first track bar 201 and the second track bar 202 are parallel to each other and arranged at intervals, and the connecting rod 203 is connected between the first track bar 201 and the second track bar 202. The first track bar 201 and the second track bar 202 are both equipped with a guide rail 204 on one side close to each other, and each guide rail 204 is used for sliding connection with the robot assembly 300. The first track bar 201 and the second track bar 202 are equipped with a rack 205 on one side away from the other, and each rack 205 is used for meshing with the robot assembly 300.

[0055] It is understandable that after the local rail units 20 are sequentially spliced ​​to form the ground rail 200, the structures such as the main body, guide rail 204, rack 205, support member 206 and protective member 207 on the local rail units 20 will also be sequentially connected to form a continuous whole. In this way, during the actual operation of the walking robot 100, the first rail rod 201, the second rail rod 202 and the connecting rod 203 cooperate with each other to bear the load of the robot assembly 300 to ensure the smooth movement of the robot assembly 300. The cooperation between the guide rail 204 and the rack 205 can realize the smooth movement of the robot assembly 300.

[0056] Further, referring to FIG. 2 , the support member 206 and the protective member 207 are respectively connected to the sides of the first track rod 201 and the second track rod 202 that are away from each other. In other words, the support member 206 and the protective member 207 are both connected to the outside of the main body. Among them, the protective member 207 can play a protective role to prevent outsiders from approaching the walking robot 100, thereby avoiding safety accidents. The support member 206 is used to support the drag chain of the robot assembly 300, which can save the space required for the support member 206 to be assembled on the inner side of the main body and the structure and materials required to form the space, thereby reducing the volume of the ground rail 200 to reduce material costs.

[0057] Correspondingly, in some embodiments, referring to FIG. 1 and FIG. 3 , the robot assembly 300 includes a mounting seat 30, a robot body 32, and a drag chain, wherein the mounting seat 30 is used for movably matching with the ground rail 200, and the surface of the mounting seat 30 away from the ground rail 200 is used for assembling the robot body 32. The drag chain is matched with the mounting seat 30, and at least the drag chain extends out of the mounting seat 30 and is movably placed on the support member 206. In this way, the layout position of the support member 206 in the ground rail 200 can be matched with the layout position of the drag chain in the robot assembly 300. In the actual operation process of the walking robot 100, the robot assembly 300 can move along the ground rail 200, the support member 206 can support the drag chain, and the drag chain will follow the robot assembly 300 to move relative to the support member 206.

[0058] In addition, in the walking robot 100 provided in the embodiment of the present application, the ground rail 200 includes a plurality of ground rail units 20, each of which includes a main body, a guide rail 204, a rack 205, a support member 206 and a protective member 207, and when each of the ground rail units 20 is sequentially spliced ​​to form the ground rail 200, the main body, guide rail 204, rack 205, support member 206 and protective member 207 on each of the ground rail units 20 will also be sequentially connected and formed into a continuous whole, and these structures can be matched with the robot assembly 300 to ensure the stable and smooth movement of the robot assembly 300. In this way, the ground rail unit 20 realizes standardized production, facilitates production and manufacturing, and is conducive to saving processing costs.

[0059] In some embodiments, see FIG. 2 , the ground rail unit 20 further includes a reinforcement 208 and a dustproof assembly 209. The reinforcement 208 is connected to the connecting rod 203, which can enhance the structural strength of the connecting rod 203 and even the main body, so that the main body has better load-bearing performance, so as to better bear the load of the robot assembly 300 and ensure the smooth movement of the robot assembly 300. At the same time, it can also bear the weight of the staff to meet the needs of the staff standing on the ground rail 200 for maintenance or other operations.

[0060] It can be understood that there are multiple connecting rods 203 and reinforcing members 208 , all connecting rods 203 are arranged at intervals along the longitudinal direction of the ground rail unit 20 , and each connecting rod 203 is equipped with at least one reinforcing member 208 .

[0061] The dustproof component 209 is matched with the reinforcement 208, and the dustproof component 209 is covered above the main body. In this way, the dustproof component 209 can block external stains and debris generated when the walking robot 100 is running, so as to ensure the cleanliness of the ground rail 200 and reduce the probability that the robot component 300 cannot move smoothly due to the blockage of the ground rail 200. At the same time, the gap between the dustproof component 209 and the main body is used for the partial structure of the robot component 300 to extend into, so that the partial structure of the robot component 300 can be slidably connected with the guide rail 204 assembled on the inner side of the main body, thereby realizing the assembly of the ground rail 200 and the robot component 300, and ensuring the normal operation of the robot component 300. At the same time, the gap between the dustproof component 209 and the main body is convenient for the disassembly and assembly of the dustproof component 209 and the main body, and is conducive to cleaning the garbage and debris in the ground rail 200.

[0062] Specifically, in some embodiments, referring to FIG. 1 and FIG. 3 , the mounting seat 30 includes a baffle 301 and side plates 302 connected to opposite sides of the baffle, and the ends of the two side plates 302 facing away from the baffle 301 are bent toward the sides close to each other to form a connecting portion 303, and a sliding member is connected to the side of the connecting portion 303 facing away from the side plate 302. The mounting seat 30 is movably covered on the dustproof component 209, and the connecting portion 303 extends into the gap between the dustproof component 209 and the ground rail 200, and the sliding member is slidably connected to the guide rail 204.

[0063] It is understandable that the side plate 302 can raise the height of the baffle 301, thereby raising the position of the robot body 32, which is beneficial to improving the convenience of the robot body 32 in clamping the workpiece.

[0064] During the actual operation of the walking robot 100, the sliding member can slide relative to the guide rail 204, and the mounting seat 30 can move synchronously relative to the dustproof component 209. Furthermore, the mounting seat 30 will drive the robot body 32 to move, thereby realizing the movement of the robot component 300 along the ground rail 200, so as to expand the operating range of the walking robot 100 and help improve production efficiency.

[0065] In some embodiments, referring to Figures 1 and 2, the dustproof assembly 209 includes a plurality of dustproof parts 2091, all of which are connected in sequence along the longitudinal direction of the floor rail unit 20, and are respectively matched with the corresponding reinforcement parts 208, and all of the dustproof parts 2091 are together constructed toward the surface of the floor rail unit 20 to form a dustproof surface, and the dustproof surface interval cover is arranged above the floor rail unit 20.

[0066] In some embodiments, referring to FIG. 3 , one end of the connection portion 303 along the longitudinal direction of the floor rail 200 protrudes from the side plate 302 and is configured to form a mounting portion 304. The robot assembly 300 further includes a motor 33, a reducer 34 and a gear, which are all connected to the mounting portion 304, and the gear is used to mesh with the rack 205.

[0067] Furthermore, in the present application, the gear is a helical gear, and correspondingly, the rack 205 is a helical rack 205. Thus, compared with the spur gear in the prior art, the helical gear has a larger tooth surface contact area, better meshing performance, and greater load-bearing capacity, which can better ensure the smooth movement of the robot assembly 300.

[0068] In some embodiments, referring to FIG. 4 , the robot assembly 300 further includes a carrier assembly 31, one end of which is fixedly connected to the mounting seat 30, and the other end of which is movably connected to the ground rail 200, and the surface of the carrier assembly 31 away from the ground rail 200 is used to place the workpiece. It can be understood that the carrier assembly 31 and the workpiece placed thereon can move on the ground rail 200 driven by the mounting seat 30.

[0069] Specifically, during the actual operation of the walking robot 100, the mounting seat 30 is controlled to move on the ground rail 200. The robot assembly 300 will go through a plurality of different processes during the movement on the ground rail 200. The surface of the carrier assembly 31 away from the ground rail 200 can be used to place the workpieces needed in different processes, and transport the workpieces to the corresponding processes along the way. For example, when the workpiece needs to be flipped between two processing processes, the placement and flipping of the workpiece can be achieved through the carrier assembly 31. In this way, the walking robot 100 provided in the embodiment of the present application has a simple structure and is easy to operate. The robot body 32, the mounting seat 30 and the carrier assembly 31 cooperate with each other to realize the interaction between the walking robot 100 and other processes, thereby effectively improving production efficiency.

[0070] In some embodiments, please refer to Figure 4, the object carrier assembly 31 includes a connecting seat 311 and a carrier 312, the connecting seat 311 includes a first connector 3111 and a second connector 3112, one end of the first connector 3111 is fixedly connected to the mounting seat 30, the other end of the first connector 3111 extends out of the mounting seat 30 and is matched with the second connector 3112, the second connector 3112 is movably matched with the ground rail 200, and the object carrier 312 is respectively matched with the first connector 3111 and the second connector 3112.

[0071] It can be understood that the second connecting member 3112 and at least part of the first connecting member 3111 are located on the outside of the mounting base 30. In this way, the first connecting member 3111 and the second connecting member 3112 can provide a larger installation space for the carrier 312, thereby making the carrier 312 have a larger size to meet the placement space required for the workpiece.

[0072] In addition, during the actual operation of the walking robot 100, the carrier 312 is used to place workpieces, and the mounting base 30 will drive the second connecting member 3112, the carrier 312 and the workpiece placed on the carrier 312 to move synchronously through the first connecting member 3111, thereby realizing the interaction between the walking robot 100 and other processes and effectively improving production efficiency.

[0073] In some embodiments, referring to FIG. 4 , the object carrier 312 includes a frame body 3121 , and the frame body 3121 can better save the material cost required for production.

[0074] The object carrier 312 further includes at least two supporting portions 3122 and a first limiting portion 3123. All the supporting portions 3122 are arranged at intervals along the longitudinal direction of the floor rail 200 on the surface of the frame body 3121 away from the floor rail 200, and are used to support the workpiece. The first limiting portion 3123 is matched with the supporting portion 3122 and corresponds to the supporting portion 3122 one by one. At least two adjacent first limiting portions 3123 are arranged at intervals along the width direction of the floor rail 200 to jointly limit the movement of the workpiece along the width direction of the floor rail 200.

[0075] Further, referring to Fig. 4, the object carrier 312 further includes a second position-limiting portion 3124 and a clamping member 3125. The clamping member 3125 and the second position-limiting portion 3124 are respectively arranged on opposite sides of all the support portions 3122 along the longitudinal direction of the floor rail 200, and are spaced apart from the corresponding adjacent support portions 3122. The clamping member 3125 is used to controllably push the workpiece to move along the longitudinal direction of the floor rail 200 toward the second position-limiting portion 3124 until it abuts against the second position-limiting portion 3124.

[0076] It is understandable that after the robot body 32 grabs the workpiece, it needs to move the workpiece to the support portion 3122, and it needs to ensure that the workpiece is located in the interval between the two first limit portions 3123 arranged in the width direction of the ground rail 200, so that the first limit portions 3123 cooperate with each other to limit the movement in the width direction of the ground rail 200 (see FIG. 4 ) to prevent the workpiece from falling out of the frame body 3121 in the width direction of the ground rail 200. Thereafter, it is necessary to control the clamping member 3125 to push the workpiece to move toward the second limit portion 3124 along the longitudinal direction of the ground rail 200 until it abuts against the second limit portion 3124, so that the clamping member 3125 cooperates with the second limit portion 3124 to limit the movement in the longitudinal direction of the ground rail 200, thereby achieving the fixation of the workpiece to facilitate subsequent transportation.

[0077] In some embodiments, the object carrier 312 further includes a buffer (not shown), which is coupled to the surface of the second position limiting portion 3124 facing the clamping member 3125. The buffer is used to mitigate the impact of the workpiece when it is pushed by the clamping member 3125 to abut against the second position limiting portion 3124, so as to avoid damage to the workpiece.

[0078] In some embodiments, see Fig. 4, the object carrier assembly 31 further includes an information input device 313, and the information input device 313 is connected to the object carrier 312. It can be understood that the information input device 313 can detect information on the workpiece to improve the accuracy of the workpiece production and processing, and can further enrich the functions of the walking robot 100, which is conducive to improving the user experience.

[0079] In some embodiments, referring to FIG. 1 and FIG. 4 , the robot assembly 300 further includes a chip tray 35 , which is respectively covered on the surfaces of the mounting seat 30 and the connecting seat 311 facing away from the ground rail 200 , so as to prevent the debris, oil stains, etc. generated during the workpiece processing from contaminating the mounting seat 30 and the connecting seat 311 .

[0080] Furthermore, the floor rail unit 20 also includes a drain chute (not shown), which is connected to the side of the first rail rod 201 and the second rail rod 202 that are away from each other, and is exposed outside the protective component and connected to the edge of the chip tray 35 accordingly.

[0081] It is understandable that the debris, oil stains, etc. on the chip tray 35 can flow along the edge of the chip tray 35 to the drain trough, and then be discharged to the outside through the drain trough to ensure the cleanliness of the walking robot 100.

[0082] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A walking robot, characterized in that: The walking robot comprises a ground rail formed by sequentially splicing a plurality of ground rail units and a robot component movably connected to the ground rail; Each of the ground rail units comprises: Subject, including: A first track bar, a second track bar and a connecting bar, wherein the first track bar and the second track bar are parallel to each other and spaced apart, and the connecting bar is connected between the first track bar and the second track bar; A guide rail, wherein the first track rod and the second track rod are both connected to each other on one side thereof, and each of the guide rails is used for sliding connection with the robot assembly; a rack, wherein the rack is connected to a side of either the first track bar or the second track bar facing away from the other, and each of the racks is used to mesh with the robot assembly; and A support member and a protective member, wherein the support member and the protective member are respectively connected to the sides of the first track rod and the second track rod that are away from each other, and the support member is used to support the drag chain of the robot assembly.

2. The walking robot according to claim 1, characterized in that: It also includes a reinforcement member and a dustproof component. The reinforcement member is matched on the connecting rod; the dustproof component is matched on the reinforcement member and a spacing cover is arranged above the main body.

3. The walking robot according to claim 2, characterized in that: There are multiple connecting rods and reinforcing members, all of which are arranged at intervals along the longitudinal direction of the ground rail unit, and each of the connecting rods is equipped with at least one reinforcing member.

4. The walking robot according to claim 3, characterized in that: The dustproof assembly includes a plurality of dustproof parts, all of which are connected in sequence along the longitudinal direction of the ground rail unit and are respectively matched with the corresponding reinforcement parts. The surfaces of all the dustproof parts facing the ground rail unit are jointly constructed to form a dustproof surface, and the dustproof surface spacing cover is arranged above the ground rail unit.

5. The walking robot according to claim 2, characterized in that: The robot assembly includes a mounting seat, a robot body and a drag chain. The mounting seat is used to be movably connected to the ground rail, and the surface of the mounting seat away from the ground rail is used to assemble the robot body; the drag chain is connected to the mounting seat, at least the drag chain extends out of the mounting seat and is movably placed on the support.

6. The walking robot according to claim 5, characterized in that: The mounting seat comprises a baffle and side plates matched to opposite sides of the baffle, the ends of the two side plates facing away from the baffle are bent toward the sides close to each other to form a connecting portion, and the sliding member is matched to the side of the connecting portion facing away from the side plate; The mounting seat is movably covered on the dustproof component, the connecting portion extends into the gap between the dustproof component and the ground rail, and the sliding member is slidably connected to the guide rail.

7. The walking robot according to claim 6, characterized in that: One end of the connecting portion along the longitudinal direction of the floor rail protrudes from the side plate and is configured to form a mounting portion; The robot assembly further includes a motor, a reducer and a helical gear. The motor, the reducer and the gear are all connected to the mounting portion, and the gear is used to mesh with the rack.

8. The walking robot according to claim 5, characterized in that: The robot assembly also includes a carrier assembly, one end of which is fixedly connected to the mounting seat, and the other end of which is movably connected to the ground rail. The surface of the carrier assembly facing away from the ground rail is used for placing workpieces.

9. The walking robot according to claim 8, characterized in that: The object-carrying component includes a connecting seat and an object-carrying member, the connecting seat includes a first connecting member and a second connecting member, one end of the first connecting member is fixedly connected to the mounting seat, the other end of the first connecting member extends out of the mounting seat and is matched with the second connecting member, the second connecting member is movably matched with the ground rail, and the object-carrying member is matched with the first connecting member and the second connecting member respectively.

10. The walking robot according to claim 9, characterized in that: The object carrier comprises a frame body, at least two supporting parts and a first limiting part, all of the supporting parts are arranged at intervals along the longitudinal direction of the ground rail on the surface of the frame body away from the ground rail, and are used to support the workpiece; The first limiting portion is matched to the supporting portion and corresponds to the supporting portion one by one, and at least two adjacent first limiting portions are spaced apart along the width direction of the ground rail to jointly limit the movement of the workpiece along the width direction of the ground rail.

11. The walking robot according to claim 10, characterized in that: The object carrier also includes a second limiting portion and a clamping member, wherein the clamping member and the second limiting portion are respectively arranged on opposite sides of all the supporting portions along the longitudinal direction of the ground rail, and are spaced apart from the corresponding adjacent supporting portions; the clamping member is used for controllably pushing the workpiece to move along the longitudinal direction of the ground rail toward the second limiting portion until it abuts against the second limiting portion.

12. The walking robot according to claim 9, characterized in that: The object-carrying component further comprises an information input device, and the information input device is connected to the object-carrying component.

13. The walking robot according to claim 9, characterized in that: The robot assembly further includes a chip tray, which is respectively covered on the surfaces of the mounting seat and the connecting seat away from the ground rail; The ground rail unit also includes a drainage trough, which is matched with the first track rod and the second track rod on the side away from each other, and the drainage trough is exposed outside the protection component and is correspondingly connected to the edge of the chip receiving tray.

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