Robot upside-down type walking transmission device

Abstract

The utility model relates to the technical field of robot walking mechanisms, in particular to a robot upside-down hanging type walking transmission device which comprises a cross beam, stand columns are installed on the two sides of the cross beam, and two horizontally-arranged linear guide rails and a rack are fixed to the machining face of the cross beam through screws. A robot walking platform is installed on the linear guide rail through a sliding block assembled in a sliding mode. According to the robot upside-down hanging type walking transmission device, a robot walking transmission mechanism is redesigned, the track originally fixed to the ground is fixed to the stand columns on the two sides in an upside-down hanging mode, and the robot is correspondingly fixed to the track in an upside-down hanging mode, so that the requirement for a site is greatly lowered, and the work efficiency is improved. Only one fixing position needs to be provided for the stand columns on the two sides, and the site space is greatly saved; the whole device is compact in structure and low in material cost.

Description

Technical Field

[0001] The utility model relates to the technical field of robot walking mechanisms, in particular to an inverted walking transmission device for a robot. Background Art

[0002] The robot walking mechanism is mainly used to expand the robot's operating diameter and extend the robot's operating range. It is often used in welding, assembly, unloading, palletizing, warehousing, processing, spraying and other fields and is widely used.

[0003] Currently, the common walking mechanism of robots is to fix the robot walking track directly on the ground. The robot is installed on the rail for walking, which usually requires a large area. The longer the walking distance, the larger the area occupied, which puts more requirements on the site. Utility Model Content

[0004] The technical problem to be solved by the utility model is that the walking transmission mechanism of the common robot walking mechanism is relatively large, occupies a large area, has corresponding requirements on the flatness of the ground, is not universal, has an incompact structure, and has a high material cost.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a robot inverted walking transmission device, including a crossbeam with columns installed on both sides, two horizontally arranged linear guides and a rack are fixed on the processing surface of the crossbeam by screws, a robot walking platform is installed on the linear guide through a sliding block assembled by sliding, a robot walking motor and a robot walking reducer are installed on the lower surface of the robot walking platform through a robot walking reducer mounting plate and a robot walking reducer adjusting block, and a robot walking drive gear matching the rack is axially sleeved on the output shaft of the robot walking reducer.

[0006] An automatic lubricating oil pump is fixed on the robot walking platform via a lubricating oil pump mounting sheet metal.

[0007] A felt gear is mounted on the robot walking platform via a felt gear mounting sheet metal.

[0008] A wiring connection square tube is installed on the robot walking platform, a drag chain groove is installed on the crossbeam through a drag chain groove support seat, a walking drag chain is installed on the drag chain groove, one end of the walking drag chain is fixedly connected to one side of the drag chain groove, and the other end of the walking drag chain is fixedly connected to the wiring connection square tube.

[0009] A robot walking limit sensing plate is installed on the robot walking platform, and a limit switch sensor matching with the robot walking limit sensing plate is installed on the crossbeam via a limit switch sensor mounting seat.

[0010] Oil buffers are installed at both ends of the crossbeam through oil buffer mounting seats.

[0011] The beneficial effects of the utility model are:

[0012] (1) The inverted walking transmission device of the robot of the utility model redesigns the walking transmission mechanism of the robot, and the track originally fixed on the ground is inverted and fixed on the pillars on both sides, and the robot is also inverted and fixed on the track accordingly, so that the requirements for the site are greatly reduced, and only a fixed position is provided for the pillars on both sides, which greatly saves the site space;

[0013] (2) The entire device has a compact structure and low material cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0015] Figure 1 It is a structural schematic diagram of the utility model.

[0016] Figure 2 It is a rear view of the utility model.

[0017] Figure 3 It is a front view of the utility model.

[0018] Figure 4 yes Figure 3 Side view in the AA direction. DETAILED DESCRIPTION

[0019] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] Figure 1 , Figure 2 , Figure 3 and Figure 4The robot inverted walking transmission device shown includes a crossbeam 2 with columns 1 installed on both sides, two horizontally arranged linear guides 3 and a rack 4 are fixed on the processing surface of the crossbeam 2 by screws, a robot walking platform 6 is installed on the linear guide 3 through a sliding block 5 assembled by sliding, and a robot walking motor 9 and a robot walking reducer 10 are installed on the lower surface of the robot walking platform 6 through a robot walking reducer mounting plate 7 and a robot walking reducer adjusting block 8, and a robot walking drive gear 11 matching the rack 4 is axially sleeved on the output shaft of the robot walking reducer 10.

[0022] In order to improve the transmission efficiency, an automatic lubricating oil pump 13 is fixed on the robot walking platform 6 through a lubricating oil pump mounting sheet metal 12 .

[0023] In order to cooperate with the control, a felt gear 15 is installed on the robot walking platform 6 through a felt gear mounting sheet metal 14.

[0024] In order to cooperate with the drive, a wiring connection square tube 16 is installed on the robot walking platform 6, and a drag chain groove 18 is installed on the crossbeam 2 through a drag chain groove support seat 17. A walking drag chain 19 is installed on the drag chain groove 18. One end of the walking drag chain 19 is fixedly connected to one side of the drag chain groove 18, and the other end of the walking drag chain 19 is fixedly connected to the wiring connection square tube 16.

[0025] In order to cooperate with the limit control, a robot walking limit sensing plate 20 is installed on the robot walking platform 6, and a limit switch sensor 22 that matches the robot walking limit sensing plate 20 is installed on the crossbeam 2 through a limit switch sensor mounting seat 21.

[0026] In order to improve lateral safety, hydraulic buffers 24 are installed at both ends of the crossbeam 2 through hydraulic buffer mounting seats 23 .

[0027] In order to improve the stability and safety of the traveling drag chain 19 , a drag chain support wheel mounting seat 26 for mounting a drag chain support wheel assembly 25 is fixed by screws on the side surface of the crossbeam 2 .

[0028] effect:

[0029] The two columns 1 are directly locked on the ground by expansion screws, so the floor space is only the area of ​​two columns 1, the overall floor space is small, and the requirements for the ground are low. The column 1 adopts the square tube welding form, and two arc-shaped webs are welded on the square tube, which greatly increases the stability of the overall structure and improves the aesthetics to a certain extent.

[0030] The crossbeam 2 and the two columns 1 form the overall framework of the robot's walking mechanism, which has a simple and stable structure. The crossbeam 2 is welded from two rectangular tubes to increase its bending resistance and reduce deformation. The end faces are also processed, so that if a longer walking track is needed later, it can be directly spliced ​​and lengthened, greatly improving the scalability.

[0031] The linear guide 3 and the rack 4 are installed on the crossbeam 2. They form the mechanism of the robot's linear motion. Through the precision processing of the crossbeam 2, it is ensured that the linear guide and the rack are parallel to each other after installation.

[0032] The robot walking platform 6 is equipped with 6 sliders 5 to ensure that the sliders provide sufficient load when the robot is running. The robot walking platform 6 is made of 35mm high-strength carbon steel plate to ensure that the robot will not deform during movement and ensure the working accuracy of the robot.

[0033] The robot walking motor 9 and the robot walking reducer 10 are fixed to the robot walking platform 6 through the robot walking reducer mounting plate 7. The robot walking driving gear 11 is sleeved on the output shaft of the robot walking reducer 10 and meshes with the rack 4. The above together constitute the power unit of the robot walking mechanism. At the same time, a robot walking reducer adjustment block 8 is installed behind the robot walking reducer mounting plate 7. Two threaded holes are opened on this adjustment block. Two long screws can be locked and the screws can be used to support the robot walking reducer mounting plate 7 to prevent the screws fixing the robot walking reducer mounting plate 7 from loosening after a long period of operation. The robot walking reducer mounting plate 7 is displaced, resulting in insufficient meshing between the gear and the rack, affecting the robot's walking accuracy, and even damaging the gear rack.

[0034] The robot walking platform limit bumpers 27 are installed at the four corners of the robot walking platform 6. At the same time, the hydraulic buffer mounting seats 23 and the hydraulic buffers 24 are installed on the sides of the two ends of the crossbeam 2. When the robot walking mechanism is out of control, the robot walking platform limit bumpers 27 will collide with the hydraulic buffers 24, and the hydraulic buffers 24 can absorb most of the impact force to ensure the safety of the robot and prevent it from running out of the track.

[0035] At the same time, a robot walking limit sensing plate 20 is installed on the reverse side of the robot walking reducer mounting plate 7. When the robot walks to the extreme positions at both ends, the robot walking limit sensing plate 20 will hit the limit switch sensors 22 installed at both ends of the beam, and the sensors will send a signal to stop the rotation of the walking motor. The sensors arranged at both ends allow the robot to move only in this range to ensure safety.

[0036] The walking mechanism of the robot is provided with an automatic lubrication device, an automatic lubricating oil pump 13 and a felt gear 15, which form an automatic lubrication system for gear racks. The automatic lubricating oil pump 13 is filled with butter, and the parameters can be adjusted to regularly and quantitatively fill the felt gear 15 with butter. The felt gear is made of felt and is porous inside, so butter can seep out from the pores to the surface of the felt gear. At the same time, the felt gear is also meshed with the rack. When the robot moves, the felt gear will rotate with it, and the butter on the surface will be evenly applied to the rack, so that the rack can be lubricated in real time, increasing the service life of the gear rack. At the same time, the lubricating oil pump can also pump oil to the slider, so that the slider and the guide rail can also be automatically lubricated, realizing maintenance-free lubrication. You only need to check the oil pump regularly and add butter in time.

[0037] The wiring connection square tube 16 is installed and fixed on the robot walking platform 6, and all electrical lines of the robot and the motor are introduced into the walking drag chain 19 installed above through the wiring connection square tube 16. Two drag chain support wheel assemblies 25 are installed on the left side of the crossbeam 2. When the robot moves to the left side, the walking drag chain 19 can be placed on the drag chain support wheel assembly 25 to prevent the walking drag chain 19 from sagging and affecting the service life of the walking drag chain 19.

[0038] The overall structure of the device is simple, compact and relatively low in cost; it occupies a small area, has a wide range of applications, is highly versatile and can meet the needs of most industries; it is maintenance-free, reduces labor costs and is highly economical.

[0039] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A robot inverted walking transmission device, comprising a crossbeam (2) with columns (1) mounted on both sides, characterized in that: Two horizontally arranged linear guide rails (3) and a rack (4) are fixed on the processing surface of the crossbeam (2) by means of screws; a robot walking platform (6) is installed on the linear guide rail (3) by means of a sliding block (5) that is slidably assembled; a robot walking motor (9) and a robot walking reducer (10) are installed on the lower surface of the robot walking platform (6) by means of a robot walking reducer mounting plate (7) and a robot walking reducer adjustment block (8); a robot walking drive gear (11) that matches the rack (4) is axially sleeved on the output shaft of the robot walking reducer (10).

2. The robot inverted walking transmission device according to claim 1 is characterized in that: An automatic lubricating oil pump (13) is fixed to the robot walking platform (6) via a lubricating oil pump mounting sheet metal (12).

3. The robot inverted walking transmission device according to claim 1 is characterized in that: A felt gear (15) is mounted on the robot walking platform (6) via a felt gear mounting sheet metal (14).

4. The robot inverted walking transmission device according to claim 1 is characterized in that: A wiring connection square tube (16) is installed on the robot walking platform (6); a drag chain groove (18) is installed on the crossbeam (2) through a drag chain groove support seat (17); a walking drag chain (19) is installed on the drag chain groove (18); one end of the walking drag chain (19) is fixedly connected to one side of the drag chain groove (18); and the other end of the walking drag chain (19) is fixedly connected to the wiring connection square tube (16).

5. The robot inverted walking transmission device according to claim 1 is characterized in that: A robot walking limit sensing plate (20) is installed on the robot walking platform (6), and a limit switch sensor (22) matching the robot walking limit sensing plate (20) is installed on the crossbeam (2) via a limit switch sensor mounting seat (21).

6. The robot inverted walking transmission device according to claim 1 is characterized in that: Oil pressure buffers (24) are installed at both ends of the cross beam (2) via oil pressure buffer mounting seats (23).

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