Movable base for industrial robot

Abstract

The invention belongs to the technical field of robots, in particular to a movable base for an industrial robot, and provides the following scheme that the movable base comprises a base, movable wheels are rotationally connected to the four corners of the bottom of the base through bearings, a driving motor is arranged on one side of each movable wheel, and a support is connected to the top of the base through bolts; a support is arranged on the top of the base, a supporting plate is connected to the top of the support through bolts, a supporting mechanism is arranged on the top of the supporting plate, an anti-toppling mechanism is arranged on the top of the base and located on the edge of the top of the base, the anti-toppling mechanism is composed of an adjusting assembly and an anti-toppling assembly, and the anti-toppling assembly is fixed to one side of the adjusting assembly. The bottom of the adjusting assembly is fixedly connected with the top of the base. According to the anti-toppling device, toppling of the movable base can be effectively supported, and the situation that the robot collides with the ground due to toppling of the movable base when the movable base drives the robot to move, and consequently the robot is damaged is prevented.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a mobile base for an industrial robot. Background Art

[0002] Industrial robots are applied to various aspects of industry. Industrial robots are generally large in size and very heavy. When moving the robots, a mobile base is required to quickly move the industrial robots.

[0003] After retrieval, a Chinese patent application with the publication number CN212170483U discloses a mobile base for an industrial robot, which relates to the technical field of industrial robots. It includes a base. Two electric push rods are fixedly arranged on the lower surface of the base. The other ends of the two electric push rods away from the lower surface of the base are fixedly connected to a turntable. A motor is arranged on one side of the turntable close to the lower surface of the base. A first telescopic rod is arranged at the other end of the motor away from the turntable. The other end of the first telescopic rod away from the motor is fixed on the lower surface of the base. Wheel bearings are arranged at the four corners of the lower surface of the base. Wheels are rotatably connected to the wheel bearings. Two chutes are arranged on both sides of the base. This application is provided with a turntable, a motor, an electric push rod and a first telescopic rod, so as to drive the industrial robot on the base to turn in place, thereby improving the mobility of the industrial robot. This mobile base of the industrial robot can turn in any direction.

[0004] When the existing mobile base drives an industrial robot to move, the robot is usually installed on the top of the base, and the movement of the robot is realized through the mobile base. However, during the movement process, due to the heavy weight of the robot and the obstacles on the road, the robot may be toppled during movement, thus causing damage to the robot. Summary of the Invention

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A mobile base for an industrial robot includes a base. The four corners of the bottom of the base are rotatably connected through bearings to moving wheels, and a driving motor is arranged on one side of the moving wheels. The top of the base is bolted to a bracket, and the top of the bracket is bolted to a support plate. A support mechanism is arranged on the top of the support plate. An anti-toppling mechanism is arranged on the top of the base, and the anti-toppling mechanism is located at the edge of the top of the base. The anti-toppling mechanism is composed of an adjustment component and an anti-toppling component, and the anti-toppling component is fixed on one side of the adjustment component. The bottom of the adjustment component is fixedly connected to the top of the base.

[0006] Preferably, the adjusting assembly includes an adjusting frame, an adjusting block, a lead screw and a rotating wheel. The bottom of the adjusting frame is bolted to the top of the base. Both ends of the lead screw are rotatably connected to opposite sides of the adjusting frame through bearings. The adjusting block is slidably connected to the inner wall of the adjusting frame. A threaded hole is formed through the top of the adjusting block, and the threaded hole is threadedly connected to the lead screw. The bottom of the rotating wheel is bolted to the top of the lead screw.

[0007] Preferably, positioning openings are formed through opposite sides of the adjusting frame, and positioning blocks are slidably connected to the inner walls of the two positioning openings. The two positioning blocks are bolted to the adjusting block.

[0008] Preferably, the anti-tipping assembly consists of an anti-tipping plate, a piston plate, a pull plate and a support pad. A connecting shaft is bolted between one side of the anti-tipping plate and the adjusting block. A pull slot is formed at the bottom of the anti-tipping plate. The piston plate is slidably connected inside the pull slot. The top of the pull plate is bolted to the bottom of the piston plate. The bottom of the pull plate is fixedly connected to the top of the support pad. The bottom of the support pad is arc-shaped. Second springs are bolted between both sides of the top of the piston plate and the pull slot.

[0009] Preferably, the support mechanism includes an annular guide rail, a sliding ring, a turntable and a support platform. The bottom of the annular guide rail is bolted to the top of the support plate. The sliding ring is slidably connected to the inner wall of the annular guide rail. The inner wall of the sliding ring is bolted to the outer wall of the turntable. A rotating hole is formed through the top of the support plate, and a rotating shaft is rotatably connected to the inner wall of the rotating hole through a bearing. The top of the rotating shaft is fixedly connected to the bottom of the turntable. A motor is bolted to the bottom of the support plate, and one end of the motor is fixedly connected to the bottom of the rotating shaft. A plurality of limiters are bolted between the top of the turntable and the bottom of the support platform. The limiters are made of telescopic material, and a first spring is sleeved on the outer wall of the limiter.

[0010] Preferably, a counterweight mechanism is provided at the top of the bracket, and the counterweight mechanism forms a cooperation with the anti-tipping mechanism.

[0011] Preferably, the counterweight mechanism includes a liquid storage tank, a counterweight tank and an air pipe. The bottom of the liquid storage tank is bolted to the top of the bracket. A counterweight liquid is provided inside the liquid storage tank. An inlet is formed through one side of the liquid storage tank, and a sealing plug is provided on the inner wall of the inlet. Through holes are formed through one side of the connecting shaft and one side of the adjusting block. An air inlet is formed between one end of the through hole and the pull slot. One end of the air pipe is inserted into the through hole, and the other end of the air pipe is inserted into the counterweight tank. A conduit is provided between the counterweight tank and the liquid storage tank, and one end of the conduit is located at the bottom of the liquid storage tank.

[0012] Preferably, both the conduit and the air pipe are made of elastic material, and a hydrophobic filter membrane is provided at one end of the air pipe.

[0013] The beneficial effects of the present invention are as follows: With the anti-tipping mechanism provided in the present invention, when driving the robot to move through the moving base, the robot is fixed on the support mechanism. After the fixation is completed, the driving motor drives the moving wheels to move, so that the robot moves. During the movement of the robot, due to the heavy weight of the robot and the interference of obstacles on the road surface during the movement of the moving base, the moving base may tip over when driving the robot. However, the anti-tipping mechanism can effectively prevent the moving base from tipping over during movement. Rotate the rotating wheel, and the rotating wheel will drive the lead screw to rotate in the groove. When the lead screw rotates, it will drive the anti-tipping plate to move downward, so as to facilitate the adjustment of the height of the anti-tipping plate. The setting of the adjustment component can facilitate the adjustment of the height of the anti-tipping plate according to the road conditions. When the moving base tips over, the support pad will support on the ground, and the bottom of the support pad is set as an arc surface. Therefore, the bottom of the support pad will fit on the ground, so as to effectively support the tipping of the moving base and prevent the moving base from tipping over when driving the robot, resulting in the robot colliding with the ground and damaging the robot. With the anti-tipping mechanism and the counterweight mechanism provided in the present invention, when the robot tips to one side, the support pad will act on the ground. At this time, the support pad will drive the pull plate and the piston plate to move upward under the action of pressure. When the piston plate moves upward, it will compress the inside of the pull slot. The compressed gas will be transported to the inside of the counterweight tank through the through hole and the air pipe, and the gas will be transported to the inside of the liquid storage tank through the conduit. At this time, the air pressure inside the liquid storage tank will increase, and the counterweight liquid inside the liquid storage tank will be transported to the inside of the other counterweight tanks through the conduit under the action of air pressure, so as to facilitate the counterweight treatment of the other side of the moving base, so that the tipping side of the moving base can be quickly reset. Through the cooperation between the anti-tipping mechanism and the counterweight mechanism, the stability of the movement of the moving base can be effectively improved, so as to facilitate driving the robot to move through the moving base and prevent the moving base from tipping over during movement and damaging the robot. Description of the Drawings

[0014] Figure 1 It is a schematic structural diagram of a moving base for an industrial robot proposed by the present invention; Figure 2 It is a front view structural diagram of a moving base for an industrial robot proposed by the present invention; Figure 3 It is a schematic structural diagram of the support mechanism of a moving base for an industrial robot proposed by the present invention; Figure 4 It is a partial structural diagram of a moving base for an industrial robot proposed by the present invention; Figure 5Schematic structural diagram of an anti-tipping mechanism for a mobile base of an industrial robot proposed by the present invention; Figure 6 Exploded structural diagram of an anti-tipping mechanism for a mobile base of an industrial robot proposed by the present invention; Figure 7 Schematic structural diagram of a counterweight mechanism for a mobile base of an industrial robot proposed by the present invention.

[0015] In the drawings: 1, base; 2, mobile wheel; 3, bracket; 4, anti-tipping mechanism; 5, support plate; 6, support mechanism; 7, counterweight mechanism; 8, annular guide rail; 9, slip ring; 10, turntable; 11, motor; 12, limiter; 13, support platform; 14, first spring; 15, adjusting frame; 16, positioning port; 17, positioning block; 18, runner; 19, anti-tipping plate; 20, pull-out plate; 21, support pad; 22, adjusting block; 23, connecting shaft; 24, lead screw; 25, piston plate; 26, second spring; 27, through hole; 28, liquid storage tank; 29, conduit; 30, counterweight tank; 31, air pipe. Detailed implementation manners

[0016] Example 1, referring to Figures 1-6 , a mobile base for an industrial robot, including a base 1, the four corners of the bottom of the base 1 are rotatably connected to mobile wheels 2 through bearings, and a driving motor is arranged on one side of the mobile wheels 2. The top of the base 1 is bolted with a bracket 3, and the top of the bracket 3 is bolted with a support plate 5. A support mechanism 6 is arranged on the top of the support plate 5. An anti-tipping mechanism 4 is arranged on the top of the base 1, and the anti-tipping mechanism 4 is located at the edge of the top of the base 1. The anti-tipping mechanism 4 is composed of an adjusting component and an anti-tipping component, and the anti-tipping component is fixed on one side of the adjusting component. The bottom of the adjusting component is fixedly connected to the top of the base 1, which can effectively support the tipping of the mobile base and prevent the mobile base from tipping when driving the robot to move, resulting in a collision between the robot and the ground, thereby damaging the robot.

[0017] On the basis of the above, the adjusting component includes an adjusting frame 15, an adjusting block 22, a lead screw 24 and a runner 18. The bottom of the adjusting frame 15 is bolted to the top of the base 1. The two ends of the lead screw 24 are rotatably connected to the opposite sides of the adjusting frame 15 through bearings. The adjusting block 22 is slidably connected to the inner wall of the adjusting frame 15. A threaded hole is opened through the top of the adjusting block 22, and the threaded hole is threadedly connected to the lead screw 24. The bottom of the runner 18 is bolted to the top of the lead screw 24.

[0018] On the basis of the above, positioning ports 16 are respectively opened through the opposite sides of the adjusting frame 15, and positioning blocks 17 are slidably connected to the inner walls of the two positioning ports 16. The two positioning blocks 17 are bolted to the adjusting block 22.

[0019] On the basis above, the anti-tipping component consists of an anti-tipping plate 19, a piston plate 25, a draw plate 20 and a support pad 21. A connecting shaft 23 is bolted between one side of the anti-tipping plate 19 and the adjusting block 22. A draw groove is formed at the bottom of the anti-tipping plate 19. The piston plate 25 is slidably connected inside the draw groove. The top of the draw plate 20 is bolted to the bottom of the piston plate 25. The bottom of the draw plate 20 is fixedly connected to the top of the support pad 21. The bottom of the support pad 21 is arc-shaped. Second springs 26 are bolted between both sides of the top of the piston plate 25 and the draw groove. When the runner 18 is rotated, the runner 18 will drive the lead screw 24 to rotate in the groove, and when the lead screw 24 rotates, it will drive the anti-tipping plate 19 to move downward, thus facilitating the adjustment of the height of the anti-tipping plate 19. Through the setting of the adjustment component, it is convenient to adjust the height of the anti-tipping plate 19 according to the road conditions. When the moving base is tipping over, the support pad 21 will support on the ground, and the bottom of the support pad 21 is arc-shaped. Therefore, the bottom of the support pad 21 will fit on the ground, so as to effectively support the tipping of the moving base and prevent the moving base from tipping over when driving the robot to move, resulting in the robot colliding with the ground and damaging the robot.

[0020] On the basis above, the support mechanism 6 includes an annular guide rail 8, a slip ring 9, a turntable 10 and a support platform 13. The bottom of the annular guide rail 8 is bolted to the top of the support plate 5. The slip ring 9 is slidably connected to the inner wall of the annular guide rail 8. The inner wall of the slip ring 9 is bolted to the outer wall of the turntable 10. A through hole is formed through the top of the support plate 5. The inner wall of the through hole is rotatably connected to a rotating shaft through a bearing. The top of the rotating shaft is fixedly connected to the bottom of the turntable 10. A motor 11 is bolted to the bottom of the support plate 5. One end of the motor 11 is fixedly connected to the bottom of the rotating shaft. A plurality of limiters 12 are bolted between the top of the turntable 10 and the bottom of the support platform 13. The limiters 12 are made of telescopic material, and a first spring 14 is sleeved on the outer wall of the limiters 12.

[0021] Example 2, referring to Figures 1-7 , a mobile base for an industrial robot. Compared with Example 1, on the basis of Example 1, a counterweight mechanism 7 is arranged at the top of the bracket 3, and the counterweight mechanism 7 forms a cooperation with the anti-tipping mechanism 4.

[0022] On the basis described above, the counterweight mechanism 7 includes a liquid storage tank 28, a counterweight tank 30 and an air pipe 31. The bottom of the liquid storage tank 28 is bolted to the top of the support 3. There is a counterweight liquid inside the liquid storage tank 28. An inlet is formed through one side of the liquid storage tank 28, and a sealing plug is provided on the inner wall of the inlet. Through holes 27 are formed through one side of the connecting shaft 23 and one side of the adjusting block 22. An air inlet is formed between one end of the through hole 27 and the drawing slot. One end of the air pipe 31 is inserted into the through hole 27, and the other end of the air pipe 31 is inserted into the counterweight tank 30. A conduit 29 is provided between the counterweight tank 30 and the liquid storage tank 28. One end of the conduit 29 is located at the bottom of the liquid storage tank 28. Both the conduit 29 and the air pipe 31 are made of elastic materials. A hydrophobic filter membrane is provided at one end of the air pipe 31. The support pad 21 will drive the drawing plate 20 and the piston plate 25 to move upward under the action of pressure. When the piston plate 25 moves upward, it will compress the inside of the drawing slot. The compressed gas will be transported to the inside of the counterweight tank 30 through the through hole 27 and the air pipe 31, and the gas will be transported to the inside of the liquid storage tank 28 through the conduit 29. At this time, the air pressure inside the liquid storage tank 28 will increase, and the counterweight liquid inside the liquid storage tank 28 will be transported to the inside of the remaining counterweight tanks 30 under the action of the air pressure, so as to carry out counterweight treatment on the other side of the moving base, so as to quickly reset the tilted side of the moving base. Through the cooperation between the anti-tipping mechanism 4 and the counterweight mechanism 7, the stability of the movement of the moving base can be effectively improved, so as to facilitate the movement of the robot driven by the moving base and prevent the robot from being damaged due to the tipping of the moving base during movement.

[0023] In summary, by means of the above technical solution of the present invention: when driving the robot to move through the mobile base, the robot is fixed on the support mechanism 6. After the fixing is completed, the driving motor drives the moving wheel 2 to move, so that the robot moves. During the movement of the robot, due to the heavy weight of the robot and the interference of obstacles on the road surface during the movement of the mobile base, the mobile base may tilt when driving the robot to move. However, the anti-tilting mechanism 4 can effectively prevent the mobile base from tilting during movement. Rotate the rotating wheel 18, and the rotating wheel 18 will drive the lead screw 24 to rotate in the groove, and when the lead screw 24 rotates, it will drive the anti-tilting plate 19 to move downward, so as to facilitate the adjustment of the height of the anti-tilting plate 19. The setting of the adjustment component can facilitate the adjustment of the height of the anti-tilting plate 19 according to the road conditions. When the mobile base tilts, the support pad 21 will support on the ground, and the bottom of the support pad 21 is set as an arc surface. Therefore, the bottom of the support pad 21 will fit on the ground, so as to effectively support the tilting of the mobile base and prevent the mobile base from tilting when driving the robot to move, resulting in the robot colliding with the ground and damaging the robot. When the robot tilts to one side, the support pad 21 will act on the ground. At this time, the support pad 21 will drive the pull-out plate 20 and the piston plate 25 to move upward under the action of pressure. When the piston plate 25 moves upward, it will compress the inside of the pull-out groove. The compressed gas will be transported to the inside of the counterweight tank 30 through the through hole 27 and the air pipe 31, and the gas will be transported to the inside of the liquid storage tank 28 through the conduit 29. At this time, the air pressure inside the liquid storage tank 28 will increase, and the counterweight liquid inside the liquid storage tank 28 will be transported to the inside of the other counterweight tanks 30 through the conduit 29 under the action of air pressure, so as to facilitate the counterweight treatment of the other side of the mobile base, so that the tilted side of the mobile base can be quickly reset. Through the cooperation between the anti-tilting mechanism 4 and the counterweight mechanism 7, the stability of the movement of the mobile base can be effectively improved, so as to facilitate driving the robot to move through the mobile base and prevent the mobile base from tilting during movement and damaging the robot.

[0024] The above is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent replacements or changes, and should be covered by the protection scope of the present invention.

Claims

1. A mobile base for an industrial robot, comprising a base (1), wherein the four corners of the bottom of the base (1) are rotatably connected to mobile wheels (2) through bearings, and a drive motor is arranged on one side of the mobile wheels (2), characterized in that, The top of the base (1) is bolted with a bracket (3), and the top of the bracket (3) is bolted with a support plate (5). A support mechanism (6) is arranged on the top of the support plate (5). An anti-tipping mechanism (4) is arranged on the top of the base (1), and the anti-tipping mechanism (4) is located at the edge of the top of the base (1). The anti-tipping mechanism (4) is composed of an adjustment component and an anti-tipping component, and the anti-tipping component is fixed on one side of the adjustment component. The bottom of the adjustment component is fixedly connected to the top of the base (1).

2. The mobile base for an industrial robot according to claim 1, wherein, The adjustment component includes an adjustment frame (15), an adjustment block (22), a lead screw (24) and a runner (18). The bottom of the adjustment frame (15) is bolted to the top of the base (1). The two ends of the lead screw (24) are rotatably connected to the opposite sides of the adjustment frame (15) through bearings. The adjustment block (22) is slidably connected to the inner wall of the adjustment frame (15). A threaded hole is formed through the top of the adjustment block (22), and the threaded hole is threadedly connected to the lead screw (24). The bottom of the runner (18) is bolted to the top of the lead screw (24).

3. The mobile base for an industrial robot according to claim 2, characterized in that, Positioning ports (16) are formed through the opposite sides of the adjustment frame (15), and positioning blocks (17) are slidably connected to the inner walls of the two positioning ports (16). The two positioning blocks (17) are bolted to the adjustment block (22).

4. The mobile base for an industrial robot according to claim 2, wherein, The anti-tipping component is composed of an anti-tipping plate (19), a piston plate (25), a pull plate (20) and a support pad (21). A connecting shaft (23) is bolted between one side of the anti-tipping plate (19) and the adjustment block (22). A pull slot is formed at the bottom of the anti-tipping plate (19). The piston plate (25) is slidably connected to the inside of the pull slot. The top of the pull plate (20) is bolted to the bottom of the piston plate (25). The bottom of the pull plate (20) is fixedly connected to the top of the support pad (21). The bottom of the support pad (21) is arc-shaped. Second springs (26) are bolted between the two sides of the top of the piston plate (25) and the pull slot.

5. The mobile base for an industrial robot according to claim 1, wherein, The support mechanism (6) includes an annular guide rail (8), a sliding ring (9), a turntable (10) and a support platform (13). The bottom of the annular guide rail (8) is bolted to the top of the support plate (5). The sliding ring (9) is slidably connected to the inner wall of the annular guide rail (8). The inner wall of the sliding ring (9) is bolted to the outer wall of the turntable (10). A rotating hole is formed through the top of the support plate (5). The inner wall of the rotating hole is rotatably connected to a rotating shaft through a bearing. The top of the rotating shaft is fixedly connected to the bottom of the turntable (10). A motor (11) is bolted to the bottom of the support plate (5). One end of the motor (11) is fixedly connected to the bottom of the rotating shaft. A plurality of limiters (12) are bolted between the top of the turntable (10) and the bottom of the support platform (13). The limiters (12) are made of telescopic material, and a first spring (14) is sleeved on the outer wall of the limiters (12).

6. The mobile base for an industrial robot according to claim 4, wherein A weight mechanism (7) is arranged on the top of the bracket (3), and the weight mechanism (7) cooperates with the anti-tipping mechanism (4).

7. The mobile base for an industrial robot according to claim 6, characterized in that, The counterweight mechanism (7) includes a liquid storage tank (28), a counterweight tank (30) and an air pipe (31). The bottom of the liquid storage tank (28) is bolted to the top of the bracket (3). The liquid storage tank (28) is internally provided with counterweight liquid. An inlet is formed through one side of the liquid storage tank (28), and a sealing plug is arranged on the inner wall of the inlet. Through holes (27) are formed through one side of the connecting shaft (23) and one side of the adjusting block (22). An air inlet is formed between one end of the through hole (27) and the drawing slot. One end of the air pipe (31) is inserted into the through hole (27), and the other end of the air pipe (31) is inserted into the counterweight tank (30). A conduit (29) is arranged between the counterweight tank (30) and the liquid storage tank (28), and one end of the conduit (29) is located at the bottom of the liquid storage tank (28).

8. The mobile base for an industrial robot according to claim 7, wherein, The conduit (29) and the air pipe (31) are both made of elastic materials, and a hydrophobic filter membrane is arranged at one end of the air pipe (31).

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