A robot walking transmission device

Abstract

The application relates to the field of robot transmission technology, in particular to a robot walking transmission device; the device comprises a track, a supporting plate, a machine shell, a transmission motor and a mechanical hand; the supporting plate is slidingly installed on the upper end of the track; the transmission motor and the mechanical hand are fixedly installed on the upper end of the supporting plate; the lower end of the supporting plate is fixedly installed with the machine shell; the side wall of the track is installed with a rack; the device is provided with a baffle and a baffle piece, the baffle piece can cooperate with the baffle to shield the rack, thereby preventing the welding slag in the welding workshop from adhering to the surface of the rack, avoiding the problem that impurities cause friction and abrasion of the gear moving to the area, thereby avoiding the operation faults such as jamming and abnormal sound, prolonging the service life of the transmission part, ensuring the meshing precision of the gear and the rack, further avoiding the vicious cycle problem of "abrasion-maintenance-again abrasion", and finally improving the long-term stability and process reliability of the whole robot system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot transmission technology, in particular to a robot walking transmission device. BACKGROUND

[0002] The arm length of traditional industrial robots is limited, which limits the working range of the industrial robot. To solve this problem, technicians install walking shafts at the bottom of the robot to increase the movement mechanism of the robot's working range, that is, by increasing the additional movement dimension, the robot can move flexibly between different stations, thereby significantly improving production efficiency and flexibility.

[0003] Some technical solutions about robot walking transmission devices have appeared in the prior art, such as a Chinese patent with publication number CN115592659B, which discloses a seven-axis robot horizontal transmission structure, comprising a guide rail, a sliding block, a track, a gear, a rack, a housing, a support plate, a motor, a robot hand, a base, the track is fixedly installed with a rack on one side, the track is fixedly installed with guide rails on both sides, the guide rails are slidably installed with sliding blocks, the sliding blocks are fixedly installed with support plates, the support plates are fixedly installed with housings on the bottom wall, the housings are fixedly installed with bases on the bottom wall, the support plates are fixedly installed with motors on the top wall, the output ends of the motors are fixedly installed with gears that cooperate with the racks, and the support plates are fixedly installed with robot hands. This technology uses an irradiation lamp to directly irradiate the light in the gap between the gear and the rack, calculates the light area falling on the light-sensitive receiver, and judges the wear of the gear in real time to solve the process problem caused by the failure to timely repair the gear after excessive wear.

[0004] However, the technical solution has obvious defects, for example, in a complex working condition such as a welding workshop, the falling welding slag and other impurities are easy to adhere to the surface of the rack, and when the gear moves to this area, the impurities will still directly increase the friction and wear of the tooth surface; the meshing precision of the gear and the rack is reduced, the local stress is concentrated, and finally the service life of the transmission component is significantly shortened, and even running faults such as jamming and abnormal noise are caused, which affects the stability and working accuracy of the entire robot system. Even if the wear detection accuracy is high, it can only respond passively to the wear that has 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

[0005] In order to make up for the deficiencies of the prior art, the robot walking transmission equipment is provided, the baffle and the baffle are arranged, the baffle can be matched with the baffle to shield the rack, so that the welding slag in the welding workshop is prevented from adhering to the surface of the rack, the friction and wear problems of the gear moving to the area are avoided, the running faults such as jamming and abnormal sound are avoided, the service life of the transmission component is improved, the meshing precision of the gear and the rack is ensured, the vicious cycle problem of 'wear-repair-wear' is further avoided, and the long-term stability and process reliability of the whole robot system are finally improved.

[0006] The technical scheme adopted by the present application to solve its technical problems is: a robot walking transmission equipment, comprising a track, a support plate, a machine shell, a transmission motor and a mechanical hand, the support plate is slidably installed on the upper end of the track, the transmission motor and the mechanical hand are fixedly installed on the upper end of the support plate, the lower end of the support plate is fixedly installed with the machine shell, the side wall of the track is installed with a rack, the machine shell is rotatably installed with a transmission gear meshing with the rack,

[0007] The transmission gear and the transmission motor are connected through a gear set, two upper and lower parallel baffles are fixedly installed on the side wall of the track, the rack is located between the two baffles, the baffle away from the track is provided with a baffle, the baffle is rotatably connected with the baffle above, the two sides of the machine shell are fixedly installed with a push plate, and the end of the push plate away from the machine shell is in sliding contact with the baffle.

[0008] Two detection plates are fixedly installed in the machine shell, the two detection plates are located between the two baffles, one side of the two detection plates close to each other is installed with an irradiation lamp and a photosensitive receiver, and the irradiation lamp is located above the photosensitive receiver.

[0009] Preferably, the gear set comprises a spur gear ring, a double-head spur gear and a connecting gear, the spur gear ring is fixedly installed on the output end of the transmission motor, the double-head spur gear is rotatably connected in the machine shell, the connecting gear is fixedly connected to the lower end of the transmission gear, one end of the double-head spur gear is meshed with the spur gear ring, and the other end is meshed with the connecting gear, a partition plate is installed in the machine shell, the partition plate is located between the transmission gear and the spur gear ring, and a slot is formed in the two sides of the machine shell.

[0010] Preferably, a through groove is formed in the surface of the detection plate above, the irradiation lamp is rotatably connected to the inner wall of the through groove through a torsion spring, a screw rod is threadedly connected to the side wall of the machine shell, a metal rope is wound around one end of the screw rod, and the end of the metal rope away from the screw rod is wound around the rotating end of the irradiation lamp.

[0011] Preferably, a sliding groove is formed in the lower end surface of the baffle above, a convex rod is fixedly connected to the upper end of the push plate, and the convex rod is slidably connected in the sliding groove.

[0012] Preferably, the lower end of the baffle is fixedly connected with a clamping block; the clamping block is made of silicone rubber material; the lower baffle sidewall is provided with a clamping groove; and the clamping block is slidingly and sealingly connected in the clamping groove.

[0013] Preferably, the shell is rotatably connected with an extension rod on both sides; the shell inner wall is fixedly provided with a rotating block; the rotating block upper end is provided with a groove; the groove is rotatably connected with a rotating wheel; the rotating wheel surface is rotatably connected with a pawl; the rotating wheel is engaged with the double-head spur gear through the pawl; the pawl and the rotating wheel are rotatably connected through a torsion spring; and the rotating wheel and the extension rod are connected through a connecting unit.

[0014] Preferably, the connecting unit comprises a steel wire rope; the groove inner wall is provided with an arc-shaped groove; the rotating wheel surface is fixedly connected with a protrusion; the protrusion is slidingly connected in the arc-shaped groove; one end of the steel wire rope is connected with the rotating wheel, and the other end is connected with the extension rod.

[0015] Preferably, the extension rod comprises a fixed rod and a straight rod; the fixed rod is rotatably connected with the shell; the fixed rod away from the shell one end is provided with a circular groove; the straight rod is slidingly connected in the circular groove; and the straight rod and the circular groove groove bottom are connected through a supporting spring.

[0016] Preferably, the extension rod away from the shell one end is fixedly connected with a scraper.

[0017] Preferably, the straight rod away from the circular groove one end is provided with a connecting groove; the scraper is slidingly connected in the connecting groove; the straight rod sidewall is provided with a mounting hole; the scraper surface is provided with a connecting hole; and the mounting hole is threadedly connected with a screw penetrating through the connecting hole.

[0018] The beneficial effects of the present application are as follows:

[0019] The present application sets the baffle and the baffle, so that the baffle can be shielded with the rack, so as to block the welding slag in the welding workshop from adhering to the rack surface, avoid the impurities to cause friction and wear problem of the gear moving to the area, so as to avoid the running failure such as jamming, abnormal sound, etc., thereby improving the service life of the transmission part, ensuring the meshing precision of the gear and the rack, further avoiding the vicious cycle problem of "wear-repair-wear" and ultimately improving the long-term stability and process reliability of the whole robot system.

[0020] The convex rod is arranged, so that the push plate is always slidably connected in the sliding groove through the convex rod, the push plate can slide along the sliding groove at the curved section of the track, so that the convex rod can drive the slight deformation of the rectangular part of the push plate fixedly connected therewith, the push plate is guided to slide along the arc-shaped sliding groove through the deformation, so that the rectangular part of the push plate is effectively prevented from being separated from the two side baffles, the rectangular part of the push plate can be smoothly reset to the rear of the baffle piece of the arc-shaped section of the baffle, and finally the exposed area of the upwardly overturned baffle piece of the curved section of the track is effectively shielded. BRIEF DESCRIPTION OF DRAWINGS

[0021] The application is further illustrated below in combination with the drawings and embodiments.

[0022] Figure 1 is a perspective view of the application;

[0023] Figure 2 is Figure 1 is an enlarged view of A in FIG. 1;

[0024] Figure 3 is a structural schematic view of the application;

[0025] Figure 4 is Figure 3 is an enlarged view of B in FIG. 1;

[0026] Figure 5 is Figure 3 is an enlarged view of C in FIG. 1;

[0027] Figure 6 is Figure 3 is an enlarged view of D in FIG. 1;

[0028] Figure 7 is a perspective view of the shell used in the application;

[0029] Figure 8 is Figure 7 is an enlarged view of E in FIG. 1;

[0030] Figure 9 is Figure 7 is an enlarged view of F in FIG. 1;

[0031] Figure 10 is a partial sectional view of the rotating block used in the application;

[0032] 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

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] As one of the embodiments of the present application, the gear set comprises a spur gear ring 121, a double-end 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-end spur gear 122 is rotatably connected in the cabinet 2; the connecting gear 123 is fixedly connected at the lower end of the transmission gear 21; one end of the double-end spur gear 122 is engaged with the spur gear ring 121, and the other end is engaged with the connecting gear 123; the cabinet 2 is provided with a partition plate 24; the partition plate 24 is located between the transmission gear 21 and the spur gear ring 121; the cabinet 2 is provided with a slot 241 on both sides.

[0038] As one of the embodiments of the present application, the surface of the detection plate 23 located at the upper side 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 cabinet 2 is provided with a screw rod 234 which is threadedly connected to the side wall; the screw rod 234 is wound with a metal rope 235 at one end; the end of the metal rope 235 away from the screw rod 234 is wound around the rotating end of the irradiation lamp 231.

[0039] As one of the embodiments of the present application, the lower end surface of the baffle 13 located at the upper side 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 slidably connected in the sliding groove 131.

[0040] In the specific operation process, the baffle 13 and the baffle 14 are provided, so that the baffle 14 can cooperate with the baffle 13 to shield the rack 111, thereby preventing the welding slag in the welding workshop from adhering to the surface of the rack 111, avoiding the problem of friction and wear of the gear moving to this area caused by impurities, thereby avoiding the running failure of jamming, abnormal sound and the like, thereby improving the service life of the transmission part, ensuring the engagement precision of the gear and the rack 111, further avoiding the vicious cycle problem of "wear-repair-wear", and finally improving the long-term stability and process reliability of the entire robot system.

[0041] In use, as the user controls the operation of the transmission motor 12, the transmission motor 12 can drive the double-end spur gear 122 engaged with the spur gear ring 121 through the spur gear ring 121 fixedly connected at the output end, so that the rotating double-end spur gear 122 can drive the connecting gear 123 engaged with the lower end to rotate, so that the connecting gear 123 drives the transmission gear 21 fixedly connected thereto to rotate, so that the transmission gear 21 moves along the rack 111 engaged therewith, so that the transmission gear 21 drives the connected body and the support plate 11 to move synchronously, so that the support plate 11 slides on the upper end of the track 1.

[0042] The push plate 22 is first contacted with the baffle 14 on the advancing path, the baffle 14 is rotated upward by the push plate 22, the push plate 22 can push the baffle 14 to move, the baffle 14 is rotated upward along the rotating connection point with the upper baffle 13, the baffle 14 is slid upward along the push plate 22 by the blocking of the push plate 22 when the transmission motor 12 continues to drive the shell 2 to move, the upward rotating baffle 14 is slid upward along the push plate 22 to the horizontal state, at this time, the baffle 14 in the horizontal state is opposite to the insertion slot 241, when the baffle 14 passes through the insertion slot 241 and enters the shell 2, the baffle 14 is in sliding contact with the partition plate 24, since the partition plate 24 is located above the transmission gear 21, when the baffle 14 moves, the impurities on the baffle 14 are blocked by the partition plate 24 and cannot fall to the transmission gear 21, so that the impurities cannot fall between the transmission gear 21 and the rack 111, the friction and wear problems of the transmission gear 21 caused by the impurities are avoided, the meshing precision of the gear and the rack 111 is further ensured, and the long-term stability and process reliability of the entire robot system are improved.

[0043] During the rotation of the transmission gear 21, the control irradiation lamp 231 is turned on, the light emitted by the irradiation lamp 231 passes through the gear and the rack 111 cooperation gap, so as to be irradiated on the photosensitive receiver 232, and the wear condition of the gear is judged according to the light area received on the photosensitive receiver 232, when the light area falling on the photosensitive receiver 232 is greater than a set value, the photosensitive receiver 232 directly transmits an electric signal to the alarm, so that the alarm gives an alarm and informs the surrounding workers to repair and maintain the transmission gear 21;

[0044] If the mechanical arm installed on the robot walking shaft is used for outdoor carrying and stacking, the sunlight directly or indirectly irradiates the photosensitive receiver 232, which can cause the total light intensity received by the photosensitive receiver 232 to be far beyond the linear detection range (i.e. "signal saturation"), at this time, no matter how the light area of the irradiation lamp 231 changes (due to the gap change caused by wear), the photosensitive receiver 232 cannot distinguish the light of the irradiation lamp 231 from the sunlight, so that the photosensitive receiver 232 directly loses the ability to judge the wear amount;

[0045] Therefore, the baffle 13 and the baffle 14 are arranged, the outer wall of the baffle 14 is coated with a black fireproof coating, the baffle 14 and the baffle 13 can also shield the outdoor sunlight, the direct or indirect irradiation of the external sunlight on the rack 111 is reduced, the original impurity protection function is retained, the interference of the outdoor sunlight on the photosensitive detection is reduced to a negligible level, the receiving amount of the photosensitive receiver 232 to the light of the irradiation lamp 231 is improved, and the detection ability of the photosensitive receiver 232 to the wear amount of the transmission gear 21 and the rack 111 is improved;

[0046] When the baffle 14 slides out of the slot 241 on the other side of the housing 2 beyond the partition 24, the baffle 14 will slide along the push plate 22 on the other side of the housing 2 under the action of its own gravity until the baffle 14 contacts the lower baffle 13, so that the baffle 14 is again blocked between the two baffles 13. 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, and the rectangular part of the push plate 22 is in a parallel state with the baffle 14 in a vertical state. When the transmission 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 protruding rod 132 to slide along the sliding groove 131, so that the rectangular part of the push plate 22 moves to the rear of the baffle 14 in the forward direction. When the diamond-shaped part of the push plate 22 contacts the baffle 14, the diamond-shaped part of the push plate 22 pushes the baffle 14 to flip upward, and the rectangular part of the push plate 22 is located behind the baffle 14 and in sliding contact with the upper and lower baffles 13, so that the rectangular part of the push plate 22 can shield the exposed part of the baffle 14 that flips upward, thereby preventing external welding slag from entering the gap between the baffle 14 in an inclined state and the lower baffle 13, and further preventing impurities from entering the meshing groove of the rack 111, thereby avoiding friction and wear problems caused by impurities on the gear moving to this area, thereby avoiding operation failures such as jamming and abnormal noise, and thereby improving the service life of the transmission component and ensuring the meshing accuracy of the gear and the rack 111.

[0047] By providing the protruding rod 132, the push plate 22 can be slidably connected in the sliding groove 131 through the protruding rod 132. In the curved section of the track 1, the push plate 22 can slide along the sliding groove 131, so that the protruding rod 132 can drive the rectangular part of the push plate 22 fixedly connected thereto to deform slightly. The deformation guides the push plate 22 as a whole to slide along the arc-shaped sliding groove 131, thereby effectively preventing the rectangular part of the push plate 22 from being detached from between the two baffles 13, so as to ensure that the rectangular part of the push plate 22 can be smoothly reset to the rear of the baffle 14 of the arc-shaped section of the baffle 13. Finally, the exposed area of the baffle 14 that flips upward in the curved section of the track 1 is effectively shielded.

[0048] The existing irradiation lamp 231 is arranged above the gear, and the light-sensitive receiver 232 is arranged below the gear. The detection of gear wear is determined by the area through which the rays of the irradiation lamp 231 pass through the meshing position of the gear and the rack 111. The wear condition of the gear is determined in real time by calculating the area of the light falling on the light-sensitive receiver 232. However, for the detection of the helical gear and the helical rack 111, the vertical light emitted by the irradiation lamp 231 has an angle with the tooth surface of the helical gear, so that part of the light is reflected to an area outside the light-sensitive receiver 232 by the tooth surface, resulting in a mismatch between the actual receiving area and the theoretical gap area, and further reducing the detection accuracy.

[0049] The present application sets the screw rod 234, so that the operator can rotate the screw rod 234, and the rotating screw rod 234 can wind the metal rope 235 on its surface, so that the metal rope 235 is wound on the rotating end of the irradiation lamp 231 to pull the irradiation lamp 231 to rotate, so that the irradiation lamp 231 can overcome the torsional force of the torsional spring to rotate, so that the rotating irradiation lamp 231 can be in an inclined state, so that the light emitted by the inclined irradiation lamp 231 is parallel to the tooth groove wall of the helical gear rack 111, avoiding the tooth groove wall to shield and interfere with the light, ensuring that the light only penetrates the meshing gap of the gear and the gear rack 111, so that the light area received by the photosensitive receiver 232 is closer to the actual meshing gap area, thereby improving the detection accuracy of the photosensitive receiver 232.

[0050] As an embodiment of the present application, 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 side wall of the lower baffle 13 is provided with a clamping groove 133; and the clamping block 141 is slidingly and sealingly connected in the clamping groove 133.

[0051] As an embodiment of the present application, the two sides of the shell 2 are rotatably connected with telescopic rods 25; the inner wall of the shell 2 is fixedly provided with a rotating block 26; the upper end of the rotating block 26 is provided with a groove 261; the rotating block 26 is rotatably connected with a rotating wheel 262 in the groove 261; 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 torsional spring; and the rotating wheel 262 and the telescopic rod 25 are connected through a connecting unit.

[0052] As an embodiment of the present application, 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.

[0053] As an embodiment of the present application, 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 of the fixed rod 251 away from the shell 2 is provided with a circular groove 253; the straight rod 252 is slidingly connected in the circular groove 253; and the straight rod 252 and the groove bottom of the circular groove 253 are connected through a supporting spring 254.

[0054] The fixing block 141 is fixedly connected to the lower end of the baffle 14, the baffle 14 is clamped in the clamping groove 133 through the fixing block 141, so that the baffle 14 cannot be lifted by strong wind when the device is used outdoors, and the wind and sand outside cannot enter between the two baffles 13, and the wind and sand outside cannot fall into the meshing groove of the rack 111, further avoiding the problem that the wind and sand and other impurities cause friction and abrasion to the gear moving to the area, thereby avoiding the running faults such as jamming and abnormal sound, and further improving the service life of the transmission part and ensuring the meshing precision of the gear and the rack 111.

[0055] In use, the two rotating wheels 262 are distributed on both sides of the double-headed spur gear 122, and the two pawls 263 connected to the surfaces of the two rotating wheels 262 face each other; the transmission motor 12 is controlled to rotate in the forward direction, so that the transmission motor 12 drives the double-headed spur gear 122 to rotate in the reverse direction through the spur gear ring 121, the double-headed spur gear 122 drives the transmission gear 21 to rotate in the forward direction through the connecting gear 123, the transmission gear 21 rotates in the forward direction along the rack 111 in the forward direction, at this time, the double-headed spur gear 122 drives the right pawl 263 to rotate in the forward direction, and the rotating wheel 262 rotates in the forward direction, so that the rotating wheel 262 spirally enters the arc-shaped groove 265, when the rotating wheel 262 enters the bottom of the arc-shaped groove 265, the rotating wheel 262 drives the pawl 263 to the gear end below the double-headed spur gear 122, at this time, the double-headed spur gear 122 is no longer meshed with the rotating wheel 262 through the pawl 263, and when the double-headed spur gear 122 drives the rotating wheel 262 to rotate through the pawl 263, the rotating wheel 262 drives the steel wire rope 264 on the surface to rotate.

[0056] Because the steel wire rope 264 is wound on the surface of the rotating wheel 262, one end of the steel wire rope 264 away from the rotating wheel 262 can pull the telescopic rod 25 in the forward direction to overcome the torsion of the torsion spring and move away from the baffle 14, so that the telescopic rod 25 is separated from the baffle 14, and the telescopic rod 25 away from the front of the casing 2 in the forward direction is attached to the surface of the baffle 14 under the action of the torsion of the torsion spring, when the casing 2 moves, the baffle 14 beyond the slot 241 at the back of the casing 2 rotates downward to the vertical state along the push plate 22 under the action of gravity, as the casing 2 drives the rear telescopic rod 25 to approach the baffle 14, the baffle 14 is driven by the telescopic rod 25 to insert the fixing block 141 at the lower end into the clamping groove 133, and the fixing block 141 is slidingly and sealingly connected in the clamping groove 133, because the fixing block 141 is made of silicone rubber material, the fixing block 141 has good friction, that is, the fixing block 141 inserted into the clamping groove 133 can be stably in the clamping groove 133 under the action of friction, so that the baffle 14 is stably clamped in the clamping groove 133 through the fixing block 141, thereby avoiding that the baffle 14 is lifted by strong wind outdoors.

[0057] By setting the elastic coefficient of the supporting spring 254 in the telescopic rod 25 to be less than the elastic coefficient of the torsion spring connected with the telescopic rod 25, when the transmission motor 12 drives the transmission gear 21 to rotate reversely, the two telescopic rods 25 are synchronously moved by the machine shell 2, at this time, the telescopic rod 25 pulled away from the baffle 14 by the steel wire rope 264 rotates to the direction of approaching the baffle 14 under the action of the restoring force of the torsion spring, until the straight rod 252 of the telescopic rod 25 contacts with the baffle 14, and the telescopic rod 25 continues to rotate to the direction of approaching the machine shell 2, so that the straight rod 252 of the telescopic rod 25 is pressed to compress the supporting spring 254 and enters the circular groove 253, the compressed supporting spring 254 exerts an elastic thrust on the straight rod 252, the straight rod 252 pushes the baffle 14 to drive the clamping block 141 to enter the clamping groove 133, further improves the pushing effect of the telescopic rod 25 on the clamping block 141, and ensures that the clamping block 141 can be stably inserted into the clamping groove 133, in the process of restoring force of the telescopic rod 25, the telescopic rod 25 pulls the rotating wheel 262 to rotate through the steel wire rope 264, so that the rotating wheel 262 can spiral rotate and rise along the arc-shaped groove 265, and the rising rotating wheel 262 drives the pawl 263 to contact with the double-headed spur gear 122, because the double-headed spur gear 122 is in the state of forward rotation at this time, the forward rotating double-headed spur gear 122 pushes the pawl 263 in contact with it due to rising to rotate to the direction of approaching the rotating wheel 262 to overcome the torsion of the torsion spring, until the pawl 263 on the side slides in contact with the double-headed spur gear 122, and the rotating wheel 262 on the other side rotates under the drive of the double-headed spur gear 122, that is, the telescopic rod 25 in the forward direction of the shell can be away from the baffle 14, and the other telescopic rod 25 at the rear can also push the clamping block 141 at the lower end of the baffle 14 to insert into the clamping groove 133, thereby ensuring that the present application can be stably carried out.

[0058] As an embodiment of the present application, the telescopic rod 25 is fixedly connected with a scraper 255 at one end away from the machine shell 2.

[0059] As an embodiment of the present application, the straight rod 252 is provided with a connecting groove 27 at one end away from the circular groove 253; the scraper 255 is slidably 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; and the mounting hole 271 is threadedly connected with a screw 272 penetrating through the connecting hole 256.

[0060] 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.

[0061] 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.

[0062] 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, a support plate, a housing, a drive motor, and a manipulator, wherein the support plate is slidably mounted on the upper end of the track; the drive motor and the manipulator are both fixedly mounted on the upper end of the support plate; the housing is fixedly mounted on the lower end of the support plate; a rack is mounted on the side wall of the track; and a transmission gear meshing with the rack is rotatably mounted inside the housing; characterized in that: 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. 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. The detection plate located at the top has a through groove on its surface; 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; 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; The lower end of the baffle is fixedly connected to a locking block; the locking block is made of silicone rubber; a locking groove is opened on the side wall of the baffle located below; the locking block is slidably and sealingly connected in the locking groove.

2. The robot walking transmission device according to claim 1, characterized in that: 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; the rotating wheel and the telescopic rods are connected by a connecting unit.

3. The robot walking transmission device according to claim 2, characterized in that: 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.

4. The robot walking transmission device according to claim 3, characterized in that: The telescopic rod includes a fixed rod and a straight rod; the fixed rod is rotatably connected to the housing; a circular groove is provided at the end of the fixed rod away from the housing; the straight rod is slidably connected in the circular groove; the straight rod and the bottom of the circular groove are connected by a support spring.

5. The robot walking transmission device according to claim 4, characterized in that: A scraper is fixedly connected to the end of the telescopic rod away from the machine casing.

6. The robot walking transmission device according to claim 5, characterized in that: 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.

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