Rectangular track robot motion module

Abstract

The utility model discloses a rectangular track robot motion module, which relates to the technical field of robots and comprises a robot mounting seat, a base, guide wheels and advancing wheels. The robot mounting seat is rotatably mounted on the base; lateral mounting bases are arranged at the bottom of the base, and elastic pieces are arranged between the guide wheels and the lateral mounting bases. Due to the fact that the elastic pieces are arranged between the guide wheels and the lateral installation bases, the movement allowance exists between the guide wheels and the rectangular rail, when the vehicle runs on a straight road normally, the guide wheels on the two sides of the rectangular rail enable the elastic pieces between the guide wheels located on the inner side of a curve and the lateral installation bases to rebound when the vehicle turns, and therefore the vehicle can run smoothly. The elastic piece between the guide wheel located on the outer side of the curve and the lateral installation base is compressed, so that stress on the two sides of the robot is kept balanced, meanwhile, the guide wheel is tightly attached to the rectangular rail all the time, the guide wheel rotates in the turning process, the robot is smoother when passing through the curve, and therefore the situations such as rollover are effectively avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a rectangular track robot motion module. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as operation or movement through programming and automatic control. Robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Robots are indispensable in existing automated industrial production, especially in the stage of material circulation. The use of robots to achieve fixed-point transfer of materials is very efficient.

[0004] However, the motion modules of existing robots used for material flow are mostly realized in the form of guide rails and sliders. When turning, the motion modules of existing material flow robots are prone to uneven force on both sides of the track curve, which can easily lead to imbalance on both sides of the robot and cause rollover. Utility Model Content

[0005] In order to solve the above problems existing in the prior art, the utility model aims to provide a rectangular track robot motion module.

[0006] The technical solution adopted by the utility model is:

[0007] A rectangular track robot motion module comprises a robot mounting seat, a base, guide wheels and traveling wheels; the robot mounting seat can be rotatably mounted on the base; a lateral mounting seat is arranged at the bottom of the base, an elastic member is arranged between the guide wheel and the lateral mounting seat, and the guide wheel presses against the rectangular track from both sides; a traveling wheel is arranged at the bottom of the lateral mounting seat, the axial directions of the traveling wheel and the guide wheel are perpendicular to each other, and the traveling wheel presses against the rectangular track from below.

[0008] Optionally, universal wheels are provided at the bottom of the base, and the universal wheels are pressed onto the top of the rectangular track.

[0009] Optionally, the lateral mounting seat includes a mounting block, a positioning plate and a side plate; two side plates are provided, and the positioning plate and the mounting block are both arranged between the two side plates; a guide wheel is installed on the mounting block, the mounting block can be slidably mounted on the positioning plate, and an elastic member is arranged between the mounting block and the positioning plate.

[0010] Optionally, a through hole is provided on the positioning plate, a sliding guide rod is provided on the side of the mounting block away from the guide wheel, and an end of the sliding guide rod away from the guide wheel passes through the positioning plate and is provided with a limiting baffle.

[0011] Optionally, the elastic member is a spring, and the spring is arranged around the sliding guide rod.

[0012] Optionally, an adapter plate is installed at the bottom of the base, and a first mounting hole, a second mounting hole and a third mounting hole are provided on the adapter plate; the first mounting hole is used to install the base, and the universal wheel on the base passes through the second mounting hole and is pressed onto the top surface of the rectangular track; the third mounting hole is used to install the bottom of the lateral mounting seat.

[0013] Optionally, lateral mounting seats are provided at both ends of the base, and a driving motor is installed on the lateral mounting seat on one side of the base, and the driving motor is used to drive the traveling wheel to rotate.

[0014] The beneficial effects of the utility model are:

[0015] The utility model provides a rectangular track robot motion module, including a robot mounting seat, a base, a guide wheel and a traveling wheel; the robot mounting seat can be rotatably mounted on the base; a lateral mounting seat is arranged at the bottom of the base, an elastic member is arranged between the guide wheel and the lateral mounting seat, and the guide wheel presses against the rectangular track from both sides; a traveling wheel is arranged at the bottom of the lateral mounting seat, the axial directions of the traveling wheel and the guide wheel are perpendicular to each other, and the traveling wheel presses against the rectangular track from below. By arranging the elastic member between the guide wheel and the lateral mounting seat, there is a movable margin between the guide wheel and the rectangular track, and when driving on a normal straight road, the guide wheels on both sides of the rectangular track make the elastic member between the guide wheel and the lateral mounting seat on the inner side of the curve rebound when turning, and the elastic member between the guide wheel and the lateral mounting seat on the outer side of the curve is compressed, so that the forces on both sides of the robot are balanced, and at the same time, the guide wheel is always in close contact with the rectangular track, and the guide wheel rotates when turning, so that the robot is smoother when passing through the curve, thereby effectively avoiding the occurrence of rollover and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of the utility model.

[0017] Figure 2 It is a structural schematic diagram of the utility model from another viewing angle.

[0018] Figure 3 It is a structural schematic diagram of a lateral mounting seat.

[0019] Figure 4 It is a schematic diagram of the installation position of the side panels, mounting blocks and positioning plates.

[0020] Figure 5 It is a structural diagram of the adapter board.

[0021] Figure 6 This is a schematic diagram of the installation position of the universal wheel.

[0022] In the figure: 1-robot mounting seat, 11-transmission shaft, 2-base, 3-universal wheel, 31-adapter plate, 32-ball, 4-guide wheel, 41-mounting block, 42-sliding guide rod, 43-elastic member, 44-positioning plate, 45-side plate, 46-positioning pin, 5-travel wheel, 6-drive motor. DETAILED DESCRIPTION

[0023] Embodiment 1:

[0024] In this embodiment, if Figures 1 to 6 A rectangular track robot motion module is shown, which includes a robot mounting seat 1, a base 2, a guide wheel 4 and a traveling wheel 5; the robot mounting seat 1 can be rotatably mounted on the base 2; a lateral mounting seat is arranged at the bottom of the base 2, an elastic member 43 is arranged between the guide wheel 4 and the lateral mounting seat, and the guide wheel 4 presses against the rectangular track from both sides; a traveling wheel 5 is arranged at the bottom of the lateral mounting seat, the axial directions of the traveling wheel 5 and the guide wheel 4 are perpendicular to each other, and the traveling wheel 5 presses against the rectangular track from below. By arranging an elastic member 43 between the guide wheel 4 and the lateral mounting seat, there is a movable margin between the guide wheel 4 and the rectangular track. When driving on a normal straight road, the guide wheels 4 on both sides of the rectangular track make the elastic member between the guide wheel 4 located on the inner side of the curve and the lateral mounting seat rebound when turning, while the elastic member 43 between the guide wheel 4 located on the outer side of the curve and the lateral mounting seat is compressed, so that the forces on both sides of the robot are kept balanced, and at the same time, the guide wheel 4 is always in close contact with the rectangular track. The guide wheel 4 rotates when turning, so that the robot is smoother when passing through the curve, thereby effectively avoiding rollover and the like.

[0025] In this embodiment, if Figure 1 and Figure 6 As shown, a universal wheel 3 is also provided at the bottom of the base 2, and the universal wheel 3 is pressed on the top of the rectangular track.

[0026] In this embodiment, an adapter plate 31 is installed at the bottom of the base 2, and a first mounting hole 311, a second mounting hole 312 and a third mounting hole 313 are provided on the adapter plate 31; the first mounting hole 311 is used to install the base 2, and the universal wheel 3 on the base 2 passes through the second mounting hole 312 and is pressed onto the top surface of the rectangular track; the third mounting hole 313 is used to install the bottom of the lateral mounting seat.

[0027] Specifically, the universal wheel 3 includes a ball 32, which is nested in the bottom of the base 2 so as to be freely rotatable. The ball 32 passes through the second mounting hole 312 and abuts against the top surface of the rectangular track. When the traveling wheel 5 drives the robot to move, the universal wheel 3 rotates synchronously, thereby reducing the friction on the top surface of the rectangular track.

[0028] In this embodiment, the robot mounting seat 1 and the base 2 are connected by a transmission shaft 11. A driving device such as a motor can be set on the robot mounting seat 1 to generate rotation between the robot mounting seat 1 and the base 2, thereby realizing the circumferential rotation of the robot on the base 2.

[0029] Embodiment 2:

[0030] This embodiment provides an optional solution for the specific structure of the lateral mounting seat based on the first embodiment.

[0031] In this embodiment, if Figures 1 to 4 As shown, the lateral mounting seat includes a mounting block 41, a positioning plate 44 and a side plate 45; two side plates 45 are provided, and the positioning plate 44 and the mounting block 41 are both arranged between the two side plates 45; a guide wheel 4 is installed on the mounting block 41, and the mounting block 41 can be slidably installed on the positioning plate 44, and an elastic member 43 is arranged between the mounting block 41 and the positioning plate 44.

[0032] Specifically, a through hole is opened on the positioning plate 44, and a sliding guide rod 42 is provided on the side of the mounting block 41 away from the guide wheel 4. One end of the sliding guide rod 42 away from the guide wheel 4 passes through the positioning plate 44 and is provided with a limiting baffle.

[0033] Specifically, the elastic member 43 is a spring, and the spring is arranged around the sliding guide rod 42. Both ends of the base 2 are provided with lateral mounting seats, and the lateral mounting seat on one side of the base 2 is installed with a driving motor 6, which is used to drive the traveling wheel 5 to rotate.

[0034] In this embodiment, if Figure 4 and Figure 5 As shown, a notch is formed at the top of the side panel 45 , and the parts on both sides of the notch of the side panel 45 are snapped into the third mounting hole 313 , and the tops of the side panels 45 on both sides of the positioning plate 44 are connected by positioning pins 46 , thereby fixing the side panels 45 on the adapter plate 31 .

[0035] In this embodiment, the traveling wheel 5 is installed at the bottom end of the side plate 45 , and the positioning plate 44 is located between the adapter plate 3 and the traveling wheel 5 .

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0038] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A rectangular track robot motion module, characterized in that: It comprises a robot mounting seat (1), a base (2), guide wheels (4) and travel wheels (5); The robot mounting seat (1) can be rotatably mounted on the base (2); A lateral mounting seat is arranged at the bottom of the base (2), an elastic member (43) is arranged between the guide wheel (4) and the lateral mounting seat, and the guide wheel (4) is pressed against the rectangular track from both sides; A traveling wheel (5) is arranged at the bottom of the lateral mounting seat, the axial directions of the traveling wheel (5) and the guide wheel (4) are perpendicular to each other, and the traveling wheel (5) presses against the rectangular track from below.

2. A rectangular track robot motion module according to claim 1, characterized in that: A universal wheel (3) is provided at the bottom of the base (2), and the universal wheel (3) is pressed onto the top of the rectangular track.

3. A rectangular track robot motion module according to claim 1, characterized in that: The lateral mounting seat comprises a mounting block (41), a positioning plate (44) and a side plate (45); The side plates (45) are provided in two pieces, and the positioning plate (44) and the mounting block (41) are both provided between the two side plates (45); A guide wheel (4) is mounted on the mounting block (41), the mounting block (41) is slidably mounted on a positioning plate (44), and an elastic member (43) is disposed between the mounting block (41) and the positioning plate (44).

4. A rectangular track robot motion module according to claim 3, characterized in that: A through hole is provided on the positioning plate (44); a sliding guide rod (42) is provided on the side of the mounting block (41) away from the guide wheel (4); and an end of the sliding guide rod (42) away from the guide wheel (4) passes through the positioning plate (44) and is provided with a limit stop plate.

5. A rectangular track robot motion module according to claim 4, characterized in that: The elastic member (43) is a spring, and the spring is arranged around the sliding guide rod (42).

6. The rectangular track robot motion module according to claim 1, characterized in that: An adapter plate (31) is installed at the bottom of the base (2), and a first mounting hole (311), a second mounting hole (312) and a third mounting hole (313) are provided on the adapter plate (31); The first mounting hole (311) is used to mount the base (2); the universal wheel (3) on the base (2) passes through the second mounting hole (312) and is pressed onto the top surface of the rectangular track; The third mounting hole (313) is used to mount the bottom of the lateral mounting seat.

7. The rectangular track robot motion module according to claim 1, characterized in that: Both ends of the base (2) are provided with lateral mounting seats, and a driving motor (6) is installed on the lateral mounting seat on one side of the base (2), and the driving motor (6) is used to drive the traveling wheel (5) to rotate.

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