Robot walking transmission equipment

Abstract

The invention relates to the technical field of robot transmission, in particular to robot walking transmission equipment. Comprising a track, a supporting plate, a machine shell, a transmission motor and a mechanical arm, and the supporting plate is slidably installed at the upper end of the track; the transmission motor and the manipulator are fixedly mounted at the upper end of the supporting plate; a machine shell is fixedly installed at the lower end of the supporting plate. A rack is mounted on the side wall of the track; by arranging the baffle and the blocking piece, the blocking piece can be matched with the baffle to shield the rack, so that welding slag falling in a welding workshop is prevented from being attached to the surface of the rack, the problem that the gear moving to the area is rubbed and abraded by impurities is avoided, and therefore operation faults such as clamping stagnation and abnormal sound are avoided; therefore, the service life of a transmission part is prolonged, the meshing precision of the gear and the rack is guaranteed, the vicious cycle problem of abrasion-maintenance-re-abrasion is further avoided, and finally the long-term stability and process reliability of the whole robot system are improved.

Description

Technical Field

[0001] This invention relates to the field of robot transmission technology, specifically a robot walking transmission device. Background Technology

[0002] Traditional industrial robots have limited arm length, which restricts their working range. To solve this problem, technicians have added a walking axis to the bottom of the robot, which is a moving mechanism that increases the robot's working range. By adding an extra dimension of motion, the robot can move flexibly between different workstations, thereby significantly improving production efficiency and flexibility.

[0003] Existing technologies also include some solutions for robot walking transmission devices. For example, a Chinese patent with publication number CN115592659B discloses a seven-axis robot lateral transmission structure, including a guide rail, a slider, a track, a gear, a rack, a shell, a support plate, a motor, a robot arm, and a base. A rack is fixedly installed on one side of the track, and guide rails are fixedly installed on both sides of the track. A slider is slidably installed on the guide rail, and a support plate is fixedly installed on the slider. A shell is fixedly installed on the bottom wall of the support plate, and a base is fixedly installed on the bottom wall of the shell. A motor is fixedly installed on the top wall of the support plate, and a gear that meshes with the rack is fixedly installed at the output end of the motor. A robot arm is fixedly installed on the support plate. This technology utilizes light shining directly into the gap between the gear and rack by an illumination lamp. By calculating the area of ​​light falling on a photosensitive receiver, it can judge the wear of the gear in real time, thereby solving the process problems caused by the failure to repair excessive gear wear in time.

[0004] However, this technical solution also has obvious drawbacks. For example, in complex working conditions such as welding workshops, falling welding slag and other impurities can easily adhere to the surface of the rack. When the gear moves to this area, the impurities will still directly aggravate the friction and wear of the gear surface. This leads to a decrease in the meshing accuracy of the gear and rack, local stress concentration, and ultimately significantly shortens the service life of the transmission components. It can even cause operational failures such as jamming and abnormal noise, affecting the stability and operational accuracy of the entire robot system. Even if the wear detection accuracy is high, it can only passively respond to the wear that has already occurred and cannot avoid the vicious cycle of "wear-repair-rewear", which ultimately affects the long-term stability and process reliability of the entire robot system. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes a robot walking transmission device. This invention uses baffles and baffle plates to shield the rack, preventing welding slag from adhering to the rack surface and avoiding friction and wear on the gears moving to that area. This prevents jamming, abnormal noise, and other operational malfunctions, thereby improving the service life of the transmission components, ensuring the meshing accuracy of the gears and rack, further avoiding the vicious cycle of "wear-repair-rewear," and ultimately improving the long-term stability and process reliability of the entire robot system.

[0006] The technical solution adopted by the present invention to solve its technical problem is as follows: The robot walking transmission device of the present invention includes a track, a support plate, a housing, a transmission motor and a manipulator. The support plate is slidably installed on the upper end of the track; the transmission motor and the manipulator are both fixedly installed on the upper end of the support plate; the housing is fixedly installed on the lower end of the support plate; a rack is installed on the side wall of the track; and a transmission gear that meshes with the rack is rotatably installed inside the housing. The transmission gear and the transmission motor are connected by a gear set; two parallel baffles are fixedly installed on the side wall of the track; the rack is located between the two baffles; a baffle plate is provided on the side of the baffle away from the track; the baffle plate is rotatably connected to the baffle plate located above; push plates are fixedly installed on both sides of the machine housing; the end of the push plate away from the machine housing is in sliding contact with the baffle plate. Two detection plates are fixedly installed inside the housing; the two detection plates are located between two baffles; an illumination lamp and a photosensitive receiver are installed on the side of the two detection plates that are close to each other; the illumination lamp is located above the photosensitive receiver.

[0007] Preferably, the gear set includes a spur gear ring, a double-ended spur gear, and a connecting gear; the spur gear ring is fixedly installed at the output end of the drive motor; the double-ended spur gear is rotatably connected inside the housing; the connecting gear is fixedly connected to the lower end of the drive gear; one end of the double-ended spur gear meshes with the spur gear ring, and the other end meshes with the connecting gear; a partition is installed inside the housing; the partition is located between the drive gear and the spur gear ring; slots are provided on both sides of the housing.

[0008] Preferably, the surface of the detection plate located above has a through groove; the illumination lamp is rotatably connected to the inner wall of the through groove via a torsion spring; a screw is threadedly connected to the side wall of the housing; a metal rope is wound around one end of the screw; the end of the metal rope away from the screw is wound around the rotating end of the illumination lamp.

[0009] Preferably, the lower end face of the baffle located above is provided with a sliding groove; a protruding rod is fixedly connected to the upper end of the push plate; the protruding rod is slidably connected in the sliding groove.

[0010] Preferably, a locking block is fixedly connected to the lower end of the baffle; the locking block is made of silicone rubber; a locking groove is provided on the side wall of the baffle located below; the locking block is slidably and sealingly connected in the locking groove.

[0011] Preferably, telescopic rods are rotatably connected to both sides of the housing; a rotating block is fixedly installed on the inner wall of the housing; a groove is provided at the upper end of the rotating block; a rotating wheel is rotatably connected in the groove; a pawl is rotatably connected to the surface of the rotating wheel; the rotating wheel meshes with a double-headed spur gear through the pawl; the pawl and the rotating wheel are rotatably connected by a torsion spring; and the rotating wheel and the telescopic rods are connected by a connecting unit.

[0012] Preferably, the connecting unit includes a steel wire rope; the inner wall of the groove is provided with an arc-shaped groove; a protrusion is fixedly connected to the surface of the wheel; the protrusion is slidably connected in the arc-shaped groove; one end of the steel wire rope is connected to the wheel, and the other end is connected to the telescopic rod.

[0013] Preferably, the telescopic rod includes a fixed rod and a straight rod; the fixed rod is rotatably connected to the housing; a circular groove is formed at the end of the fixed rod away from the housing; the straight rod is slidably connected in the circular groove; and the straight rod is connected to the bottom of the circular groove by a support spring.

[0014] Preferably, a scraper is fixedly connected to the end of the telescopic rod away from the machine housing.

[0015] Preferably, the straight rod has a connecting groove at the end away from the circular groove; the scraper is slidably connected in the connecting groove; the straight rod has a mounting hole on its side wall; the scraper has a connecting hole on its surface; and a screw that passes through the connecting hole is threaded into the mounting hole.

[0016] The beneficial effects of this invention are as follows: This invention, by setting up baffles and baffle plates, allows the baffle plates to cooperate with the baffles to shield the rack, thereby preventing welding slag falling in the welding workshop from adhering to the rack surface. This avoids impurities causing friction and wear on the gears moving to that area, thus preventing operational malfunctions such as jamming and abnormal noise. This improves the service life of the transmission components, ensures the meshing accuracy of the gears and rack, further avoids the vicious cycle of "wear-repair-rewear," and ultimately improves the long-term stability and process reliability of the entire robot system.

[0017] This invention, by setting a protruding rod, allows the push plate to slide continuously within the groove. In the curved section of the track, the push plate can slide along the groove, causing the protruding rod to slightly deform the rectangular part of the push plate that is fixedly connected to it. This deformation guides the entire push plate to slide along the arc-shaped groove, effectively preventing the rectangular part of the push plate from coming off between the two side baffles. This ensures that the rectangular part of the push plate can smoothly return to the back of the baffle plate in the arc-shaped section of the baffle, ultimately achieving effective shielding of the area exposed by the upward-flipping baffle plate in the curved section of the track. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 yes Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the structure of the present invention; Figure 4 yes Figure 3 Enlarged view of point B in the middle; Figure 5 yes Figure 3 Enlarged view of point C in the middle; Figure 6 yes Figure 3 Enlarged view at point D; Figure 7 This is a perspective view of the housing used in this invention; Figure 8 yes Figure 7 Enlarged view at point E in the middle; Figure 9 yes Figure 7 Enlarged view at point F; Figure 10 This is a partial cross-sectional view of the rotating block used in this invention; In the diagram: 1. Track; 11. Support plate; 111. Rack; 12. Drive motor; 121. Spur gear ring; 122. Double-ended spur gear; 123. Connecting gear; 13. Baffle; 131. Slide groove; 132. Protruding rod; 133. Slot; 14. Baffle plate; 141. Locking block; 2. Housing; 21. Drive gear; 22. Push plate; 23. Detection plate; 231. Illumination lamp; 232. Photosensitive receiver; 233. Through groove; 23 4. Screw; 235. Metal rope; 24. Partition; 241. Slot; 25. Telescopic rod; 251. Fixed rod; 252. Straight rod; 253. Circular groove; 254. Support spring; 255. Scraper; 256. Connecting hole; 26. Rotating block; 261. Groove; 262. Wheel; 263. Pawl; 264. Wire rope; 265. Arc groove; 266. Protrusion; 27. Connecting groove; 271. Mounting hole; 272. Screw. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] like Figures 1 to 10 As shown, the robot walking transmission device of the present invention includes a track 1, a support plate 11, a housing 2, a transmission motor 12, and a manipulator. The support plate 11 is slidably mounted on the upper end of the track 1; the transmission motor 12 and the manipulator are both fixedly mounted on the upper end of the support plate 11; the housing 2 is fixedly mounted on the lower end of the support plate 11; a rack 111 is mounted on the side wall of the track 1; and a transmission gear 21 that meshes with the rack 111 is rotatably mounted inside the housing 2. The transmission gear 21 is connected to the transmission motor 12 via a gear set; two parallel baffles 13 are fixedly installed on the side wall of the track 1; the rack 111 is located between the two baffles 13; a baffle plate 14 is provided on the side of the baffle 13 away from the track 1; the baffle plate 14 is rotatably connected to the upper baffle 13; push plates 22 are fixedly installed on both sides of the housing 2; the end of the push plate 22 away from the housing 2 slides in contact with the baffle 13. Two detection plates 23 are fixedly installed inside the housing 2; the two detection plates 23 are located between two baffles 13; an illumination lamp 231 and a photosensitive receiver 232 are installed on the side of the two detection plates 23 that are close to each other; the illumination lamp 231 is located above the photosensitive receiver 232.

[0022] In one embodiment of the present invention, the gear set includes a spur gear ring 121, a double-ended spur gear 122, and a connecting gear 123; the spur gear ring 121 is fixedly installed at the output end of the transmission motor 12; the double-ended spur gear 122 is rotatably connected inside the housing 2; the connecting gear 123 is fixedly connected to the lower end of the transmission gear 21; one end of the double-ended spur gear 122 meshes with the spur gear ring 121, and the other end meshes with the connecting gear 123; a partition 24 is installed inside the housing 2; the partition 24 is located between the transmission gear 21 and the spur gear ring 121; slots 241 are provided on both sides of the housing 2.

[0023] In one embodiment of the present invention, a through groove 233 is provided on the surface of the detection plate 23 located above; the illumination lamp 231 is rotatably connected to the inner wall of the through groove 233 by a torsion spring; a screw 234 is threadedly connected to the side wall of the housing 2; a metal rope 235 is wound around one end of the screw 234; the end of the metal rope 235 away from the screw 234 is wound around the rotating end of the illumination lamp 231.

[0024] In one embodiment of the present invention, a groove 131 is provided on the lower end face of the baffle 13 located above; a protruding rod 132 is fixedly connected to the upper end of the push plate 22; the protruding rod 132 is slidably connected in the groove 131. In specific operation, the present invention sets up a baffle 13 and a baffle plate 14, so that the baffle plate 14 can cooperate with the baffle 13 to shield the rack 111, thereby preventing welding slag falling in the welding workshop from adhering to the surface of the rack 111. This avoids impurities causing friction and wear on the gears moving to this area, thus avoiding operational failures such as jamming and abnormal noise. This improves the service life of the transmission components, ensures the meshing accuracy of the gears and rack 111, further avoids the vicious cycle of "wear-repair-rewear", and ultimately improves the long-term stability and process reliability of the entire robot system.

[0025] In use, as the user controls the operation of the drive motor 12, the drive motor 12 can drive the double-headed spur gear 122 meshing with it to rotate through the spur gear ring 121 fixedly connected to its output end. The rotating double-headed spur gear 122 can drive the connecting gear 123 meshing with its lower end to rotate. The connecting gear 123 drives the drive gear 21 fixedly connected to it to rotate. The drive gear 21 moves along the rack 111 it meshes with. The drive gear 21 drives the connected body and support plate 11 to move synchronously, and the support plate 11 slides on the upper end of the track 1.

[0026] Since push plates 22 are fixedly installed on both sides of the housing 2, the push plates 22 first contact the baffle 14 on the forward path, causing the baffle 14 to rotate upward by the push plates 22. This allows the push plates 22 to push the baffle 14 to move, causing the baffle 14 to rotate upward along its rotational connection point with the upper baffle 13. As the drive motor 12 continues to drive the housing 2 to move, the baffle 14 is blocked by the push plates 22 and slides upward along the push plates 22. The upwardly rotating baffle 14 slides upward along the push plates 22 to a horizontal state. At this time, the horizontal baffle 14 and the slot 24 are in contact. 1. When the baffle 14 passes through the slot 241 and enters the housing 2, the baffle 14 slides in contact with the partition 24. Since the partition 24 is located above the transmission gear 21, when the baffle 14 moves, the impurities on the baffle 14 are blocked by the partition 24 and will not fall to the transmission gear 21, thereby preventing the impurities from falling between the transmission gear 21 and the rack 111, avoiding the impurities from causing friction and wear problems to the transmission gear 21, further ensuring the meshing accuracy of the gear and the rack 111, and improving the long-term stability and process reliability of the entire robot system.

[0027] During the rotation of the transmission gear 21, the illumination lamp 231 is turned on, so that the light emitted by the illumination lamp 231 passes through the gap between the gear and the rack 111 and shines on the photosensitive receiver 232. The wear condition of the gear is judged based on the area of ​​light received on the photosensitive receiver 232. When the area of ​​light falling on the photosensitive receiver 232 is greater than the set value, the photosensitive receiver 232 directly transmits an electrical signal to the alarm, causing the alarm to sound and notify the surrounding staff to carry out the wear and repair of the transmission gear 21. If the robotic arm mounted on the robot's walking axis is used for tasks such as handling and palletizing outdoors, the sunlight will directly or indirectly shine on the photosensitive receiver 232, causing the total light intensity received by the photosensitive receiver 232 to far exceed its linear detection range (i.e., "signal saturation"). At this time, no matter how the light area of ​​the irradiation lamp 231 changes (due to gap changes caused by wear), the photosensitive receiver 232 cannot distinguish between the light from the irradiation lamp 231 and the sunlight, so the photosensitive receiver 232 directly loses its ability to judge the amount of wear. Therefore, by setting up baffle 13 and baffle 14, and coating the outer wall of baffle 14 with a black fireproof coating, the baffle 14 and baffle 13 can also block outdoor sunlight, reducing the direct or indirect exposure of external sunlight to the rack 111 area. Thus, while retaining the original impurity protection function, the interference of outdoor sunlight on photosensitive detection is reduced to a negligible level, thereby increasing the amount of light received by photosensitive receiver 232 from the illumination lamp 231 and improving the ability of photosensitive receiver 232 to detect the wear of transmission gear 21 and rack 111. When the baffle 14 slides out of the slot 241 on the other side of the housing 2 after passing the partition 24, the baffle 14 will slide down the push plate 22 on the other side of the housing 2 due to its own gravity until the baffle 14 contacts the baffle 13 below, so that the baffle 14 is blocked between the two baffles 13 again. Since the push plate 22 is composed of a diamond-shaped part and a rectangular part, the rectangular part of the push plate 22 is made of PTFE material. The rectangular part of the push plate 22 is parallel to the vertical baffle 14. When the drive motor 12 drives the housing 2 to move the push plate 22 in the forward direction, the rectangular part of the push plate 22 drives the protrusion 132 to slide along the slide groove 131, so that the rectangular part of the push plate 22 moves behind the baffle 14 in the forward direction. When the rhomboid portion of the push plate 22 contacts the baffle 14, the rhomboid portion of the push plate 22 pushes the baffle 14 upward to flip it. The rectangular portion of the push plate 22 is located behind the baffle 14 and slides in contact with the upper and lower baffles 13. This allows the rectangular portion of the push plate 22 to block the exposed part of the upward-flipped baffle 14, thereby preventing external welding slag from entering between the two baffles 13 through the gap between the inclined baffle 14 and the lower baffle 13. This also prevents impurities from entering the meshing groove of the rack 111, thus avoiding friction and wear problems on the gear that moves to this area. This prevents operational failures such as jamming and abnormal noise, thereby improving the service life of the transmission components and ensuring the meshing accuracy of the gear and rack 111.

[0028] By setting the protruding rod 132, the push plate 22 can be slidably connected to the slide groove 131 through the protruding rod 132. In the curved section of the track 1, the push plate 22 can slide along the slide groove 131, so that the protruding rod 132 can drive the rectangular part of the push plate 22 fixedly connected to it to undergo slight deformation. Through this deformation, the push plate 22 is guided to slide along the arc-shaped slide groove 131, thereby effectively preventing the rectangular part of the push plate 22 from coming out between the two side baffles 13, ensuring that the rectangular part of the push plate 22 can be smoothly reset to the back of the baffle plate 14 of the arc section of the baffle plate 13, and finally effectively blocking the area exposed by the upward flipping baffle plate 14 in the curved section of the track 1.

[0029] The existing illumination lamp 231 is positioned above the gear, while the photosensitive receiver 232 is positioned below the gear. The detection of gear wear is determined by the area through which the rays from the illumination lamp 231 pass between the gear and the rack 111 meshing point. The wear condition of the gear is judged in real time by calculating the area of ​​the light rays falling on the photosensitive receiver 232. However, for the detection of helical gears and helical racks 111, the vertical light rays emitted by the illumination lamp 231 have an angle with the helical gear tooth surface, which causes some light rays to be reflected by the tooth surface to areas outside the photosensitive receiver 232. This results in a mismatch between the actual receiving area and the theoretical gap area, further reducing the detection accuracy.

[0030] To address this, the present invention incorporates a screw 234, allowing the operator to rotate the screw 234. This rotating screw 234 winds a metal rope 235 around its surface, causing the metal rope 235 to wrap around the rotating end of the illumination lamp 231, pulling the lamp to rotate. This allows the illumination lamp 231 to overcome the torsion of the torsion spring and rotate at an angle. The angled illumination lamp 231 emits light parallel to the tooth groove wall of the inclined rack 111, preventing the tooth groove wall from blocking or interfering with the light. This ensures that the light only penetrates the meshing gap between the gear and the rack 111, making the area of ​​light received by the photosensitive receiver 232 closer to the actual meshing gap area, thereby improving the detection accuracy of the photosensitive receiver 232.

[0031] In one embodiment of the present invention, a locking block 141 is fixedly connected to the lower end of the baffle 14; the locking block 141 is made of silicone rubber material; a locking groove 133 is provided on the side wall of the baffle 13 located below; the locking block 141 is slidably and sealingly connected in the locking groove 133.

[0032] In one embodiment of the present invention, telescopic rods 25 are rotatably connected to both sides of the housing 2; a rotating block 26 is fixedly installed on the inner wall of the housing 2; a groove 261 is provided at the upper end of the rotating block 26; a rotating wheel 262 is rotatably connected in the groove 261; a pawl 263 is rotatably connected to the surface of the rotating wheel 262; the rotating wheel 262 meshes with a double-headed spur gear 122 through the pawl 263; the pawl 263 and the rotating wheel 262 are rotatably connected by a torsion spring; the rotating wheel 262 and the telescopic rods 25 are connected by a connecting unit.

[0033] In one embodiment of the present invention, the connecting unit includes a steel wire rope 264; an arc-shaped groove 265 is provided on the inner wall of the groove 261; a protrusion 266 is fixedly connected to the surface of the wheel 262; the protrusion 266 is slidably connected in the arc-shaped groove 265; one end of the steel wire rope 264 is connected to the wheel 262, and the other end is connected to the telescopic rod 25.

[0034] In one embodiment of the present invention, the telescopic rod 25 includes a fixed rod 251 and a straight rod 252; the fixed rod 251 is rotatably connected to the housing 2; a circular groove 253 is provided at the end of the fixed rod 251 away from the housing 2; the straight rod 252 is slidably connected in the circular groove 253; the straight rod 252 and the bottom of the circular groove 253 are connected by a support spring 254. By fixing a locking block 141 to the lower end of the baffle 14, the baffle 14 is engaged in the slot 133 by the locking block 141. This prevents the baffle 14 from being lifted by strong winds when the invention is used for handling, stacking, or other outdoor work. This prevents external sand from entering between the two baffles 13 and from falling into the meshing groove of the rack 111. It also prevents sand and other impurities from causing friction and wear on the gears that move to this area, thus avoiding operational failures such as jamming and abnormal noise. This improves the service life of the transmission components and ensures the meshing accuracy of the gears and rack 111.

[0035] In use, two rotating wheels 262 are provided, distributed on both sides of the double-ended spur gear 122, with the pawls 263 connected to the surfaces of the two rotating wheels 262 facing each other. When the user controls the drive motor 12 to rotate forward, the drive motor 12 can drive the double-ended spur gear 122 to rotate in the opposite direction through the spur gear ring 121. The reverse-rotating double-ended spur gear 122 then drives the drive gear 21 to rotate forward through the connecting gear 123. This causes the forward-rotating drive gear 21 to mesh and rotate along the rack 111 in the forward direction. When the double-ended spur gear 122 pushes the right-side pawl 263 to drive the rotating wheel 262 to rotate in the forward direction, the rotating wheel 262 can spiral into the arc groove 265. When the rotating wheel 262 enters the bottom of the arc groove 265, the rotating wheel 262 drives the pawl 263 to below the gear end of the double-ended spur gear 122. At this time, the double-ended spur gear 122 no longer meshes with the rotating wheel 262 through the pawl 263. When the double-ended spur gear 122 drives the rotating wheel 262 to rotate through the pawl 263, the rotating wheel 262 will drive the steel wire rope 264 on the surface to rotate.

[0036] Because the wire rope 264 is wound around the surface of the wheel 262, the end of the wire rope 264 away from the wheel 262 can pull the telescopic rod 25 in the forward direction to overcome the torsion force of the torsion spring and move away from the baffle 14, causing the telescopic rod 25 to separate from the baffle 14. The telescopic rod 25 away from the forward direction of the housing 2 is attached to the surface of the baffle 14 under the action of the torsion force of the torsion spring. When the housing 2 moves, the baffle 14, which extends beyond the slot 241 at the rear of the housing 2, rotates downward along the push plate 22 to a vertical position under the action of gravity. As the housing 2 moves, the baffle 14 moves backward. The telescopic rod 25 approaches the baffle 14, causing the baffle 14 to be pushed by the telescopic rod 25, which in turn drives the lower end of the locking block 141 to insert into the locking groove 133. The locking block 141 is slidably and sealingly connected in the locking groove 133. Because the locking block 141 is made of silicone rubber, it has good friction. That is, the locking block 141 inserted into the locking groove 133 can be firmly fixed in the locking groove 133 under the action of friction. The baffle 14 is stably locked in the locking groove 133 by the locking block 141, thereby preventing strong outdoor winds from lifting the baffle 14.

[0037] By setting the elastic coefficient of the support spring 254 inside the telescopic rod 25 to be less than that of the torsion spring connected to the telescopic rod 25, when the transmission motor 12 drives the transmission gear 21 to rotate in the opposite direction, the housing 2 drives the telescopic rods 25 on both sides to move synchronously. At this time, the telescopic rod 25, which is pulled away from the baffle 14 by the wire rope 264, rotates towards the baffle 14 under the action of the torsion spring's restoring force until the straight rod 252 of the telescopic rod 25 contacts the baffle 14. As the torsion spring continues to restore, the telescopic rod 25 continues to rotate towards the housing 2, causing the straight rod 252 of the telescopic rod 25 to squeeze the support spring 254 and enter the circular groove 253 due to the obstruction of the baffle 14. The compressed support spring 254 applies an elastic thrust to the straight rod 252, causing the straight rod 252 to push the baffle 14 and drive the locking block 141 into the locking groove 133, further improving the pushing effect of the telescopic rod 25 on the locking block 141 and ensuring that the locking block 141... 1. The telescopic rod 25 can be stably inserted into the slot 133. During the restoring process of the telescopic rod 25, the telescopic rod 25 will pull the rotating wheel 262 to rotate through the wire rope 264, so that the rotating wheel 262 can spirally rotate and rise along the arc groove 265. The rising rotating wheel 262 drives the pawl 263 to contact the double-headed spur gear 122. Since the double-headed spur gear 122 is in a forward rotating state at this time, the forward rotating double-headed spur gear 122 will push the pawl 263, which is in contact with it due to the rise, to overcome the torsion spring torque and rotate towards the rotating wheel 262 until the pawl 263 on this side slides into contact with the double-headed spur gear 122. The rotating wheel 262 on the other side rotates under the drive of the double-headed spur gear 122. This ensures that the telescopic rod 25 in the forward direction of the housing can move away from the baffle 14, and also allows the other telescopic rod 25 at the rear to push the locking block 141 at the lower end of the baffle 14 to insert into the slot 133, thereby ensuring that the present invention can be carried out stably.

[0038] In one embodiment of the present invention, a scraper 255 is fixedly connected to the end of the telescopic rod 25 away from the housing 2.

[0039] In one embodiment of the present invention, a connecting groove 27 is provided at the end of the straight rod 252 away from the circular groove 253; the scraper 255 is slidably connected in the connecting groove 27; an installation hole 271 is provided on the side wall of the straight rod 252; a connecting hole 256 is provided on the surface of the scraper 255; and a screw 272 that passes through the connecting hole 256 is threaded into the installation hole 271.

[0040] Specifically, the scraper 255 is fixedly connected to the end of the telescopic rod 25 away from the housing 2 so that the scraper 255 can slide in contact with the baffle 14. This allows the scraper 255 to scrape off the welding slag and other impurities adhering to the surface of the baffle 14 during the welding process, reducing the accumulation of welding slag on the surface of the baffle 14. In addition, the straight rod 252 makes frictional contact with the impurities on the surface of the baffle 14 through the scraper 255, thereby reducing the wear on the straight rod 252 and improving its service life. When the user needs to replace the scraper 255 after long-term use, the user only needs to rotate the scraper 255. Screw 272 is screwed out of the connecting hole 256 and the mounting hole 271. At this time, the user can directly remove the old scraper 255 in the connecting groove 27 and insert the new scraper 255 into the connecting groove 27. The connecting hole 256 on the surface of the scraper 255 inserted into the connecting groove 27 is aligned with the mounting hole 271 on the surface of the straight rod 252. Then, screw 272 can be reinserted into the mounting hole 271, so that screw 272 is inserted into the connecting hole 256 through the mounting hole 271, so that the scraper 255 and the straight rod 252 are fixedly connected by screw 272. At this time, the replacement of scraper 255 is completed.

[0041] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0042] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot walking transmission device, comprising a track (1), a support plate (11), a casing (2), a transmission motor (12) and a mechanical hand, the support plate (11) is slidingly installed on the upper end of the track (1); the transmission motor (12) and the mechanical hand are both fixedly installed on the upper end of the support plate (11); the lower end of the support plate (11) is fixedly installed with the casing (2); the side wall of the track (1) is installed with a rack (111); the casing (2) is rotatably installed with a transmission gear (21) engaged with the rack (111); characterized in that: the transmission gear (21) and the transmission motor (12) are connected through a gear set; the side wall of the track (1) is fixedly installed with two upper and lower parallel baffles (13); the rack (111) is located between the two baffles (13); the side away from the track (1) of the baffle (13) is provided with a baffle piece (14); the baffle piece (14) is rotatably connected with the baffle (13) located above; the two sides of the casing (2) are fixedly installed with a push plate (22); one end of the push plate (22) away from the casing (2) is in sliding contact with the baffle (13); the casing (2) is fixedly installed with two detection plates (23); the two detection plates (23) are located between the two baffles (13); one side of the two detection plates (23) close to each other is installed with an irradiation lamp (231) and a photosensitive receiver (232); the irradiation lamp (231) is located above the photosensitive receiver (232).

2. The robot walking transmission apparatus according to claim 1, characterized by: the gear set comprises a spur gear ring (121), a double-head spur gear (122) and a connecting gear (123); the spur gear ring (121) is fixedly installed on the output end of the transmission motor (12); the double-head spur gear (122) is rotatably connected in the casing (2); the connecting gear (123) is fixedly connected to the lower end of the transmission gear (21); one end of the double-head spur gear (122) is engaged with the spur gear ring (121), and the other end is engaged with the connecting gear (123); the casing (2) is installed with a partition plate (24); the partition plate (24) is located between the transmission gear (21) and the spur gear ring (121); the two sides of the casing (2) are provided with insertion grooves (241).

3. A robot walking transmission apparatus according to claim 2, characterized by: the surface of the detection plate (23) located above is provided with a through groove (233); the irradiation lamp (231) is rotatably connected to the inner wall of the through groove (233) through a torsion spring; the side wall of the casing (2) is threadedly connected with a screw rod (234); one end of the screw rod (234) is wound with a metal rope (235); one end of the metal rope (235) away from the screw rod (234) is wound around the rotating end of the irradiation lamp (231).

4. A robot walking transmission apparatus according to claim 3, characterized by: the lower end face of the baffle (13) located above is provided with a sliding groove (131); the upper end of the push plate (22) is fixedly connected with a protruding rod (132); the protruding rod (132) is slidingly connected in the sliding groove (131).

5. A robot walking drive apparatus according to claim 4, characterized by: The lower end of the baffle (14) is fixedly connected with a clamping block (141); the clamping block (141) is made of silicone rubber material; the lower baffle (13) side wall is provided with a clamping groove (133); the clamping block (141) is slidingly and sealingly connected in the clamping groove (133).

6. A robot walking drive apparatus according to claim 5, characterized by: The both sides of the shell (2) are rotatably connected with telescopic rods (25); the inner wall of the shell (2) is fixedly installed with a rotating block (26); the upper end of the rotating block (26) is provided with a groove (261); the groove (261) is rotatably connected with a rotating wheel (262); the surface of the rotating wheel (262) is rotatably connected with a pawl (263); the rotating wheel (262) is engaged with the double-head spur gear (122) through the pawl (263); the pawl (263) and the rotating wheel (262) are rotatably connected through a torsion spring; the rotating wheel (262) and the telescopic rod (25) are connected through a connecting unit.

7. A robot walking drive apparatus according to claim 6, characterized by: The connecting unit comprises a steel wire rope (264); the inner wall of the groove (261) is provided with an arc-shaped groove (265); the surface of the rotating wheel (262) is fixedly connected with a protrusion (266); the protrusion (266) is slidingly connected in the arc-shaped groove (265); one end of the steel wire rope (264) is connected with the rotating wheel (262), and the other end is connected with the telescopic rod (25).

8. A robot walking drive apparatus according to claim 7, characterized by: The telescopic rod (25) comprises a fixed rod (251) and a straight rod (252); the fixed rod (251) is rotatably connected with the shell (2); the end, away from the shell (2), of the fixed rod (251) is provided with a circular groove (253); the straight rod (252) is slidingly connected in the circular groove (253); the straight rod (252) and the groove bottom of the circular groove (253) are connected through a supporting spring (254).

9. A robot walking drive apparatus according to claim 8, characterized by: The end, away from the shell (2), of the telescopic rod (25) is fixedly connected with a scraper (255).

10. A robot walking drive apparatus according to claim 9, characterized by: The end, away from the circular groove (253), of the straight rod (252) is provided with a connecting groove (27); the scraper (255) is slidingly connected in the connecting groove (27); the side wall of the straight rod (252) is provided with a mounting hole (271); the surface of the scraper (255) is provided with a connecting hole (256); the mounting hole (271) is threadedly connected with a screw (272) penetrating through the connecting hole (256).

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