Walking steering mechanism of industrial robot

Abstract

The utility model relates to the technical field of industrial robot walking, in particular to a walking steering mechanism of an industrial robot, which comprises a mounting frame, a damping mechanism arranged at the top of the mounting frame, a mounting plate, a damping liquid container connected to the top of the mounting frame, a piston slidably connected to the inner wall of the damping liquid container, and a connecting rod connected to the top of the piston. Limiting cylinders are symmetrically and fixedly connected to the positions, close to the left side and the right side, of the top of the mounting frame through bolts, sliding blocks are slidably connected to the inner walls of the limiting cylinders, springs are fixedly connected to the bottoms of the sliding blocks, moving rods are connected to the tops of the sliding blocks, and the top ends of the moving rods are connected with the bottom of the mounting plate. According to the walking steering mechanism of the industrial robot, by arranging the rotating motor, the rotating rod, the n-shaped rotating frame and the steering wheels, the device has a steering function, by arranging the damping mechanism, the device has a damping function, and vibration of the device can be buffered.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robot walking, in particular to a walking steering mechanism of an industrial robot. Background Art

[0002] A handling robot is an industrial robot that can perform automated handling operations. Handling operations refer to using a device to hold a workpiece and moving it from one processing position to another. The walking mechanism of the handling robot is an important executive component of the robot, which can quickly move the robot to the appropriate position to hold and carry the workpiece.

[0003] The walking mechanism of an industrial handling robot with publication number CN211592765U has front wheels and rear wheels rotatably installed on both sides of the body from top to bottom, and a fixing frame is fixedly installed inside the body, a driving motor is arranged inside the fixing frame, a connecting shaft is connected to the driving end of the driving motor, a buffer component is fixedly connected to the upper surface of the body, and fixing components are fixedly installed on both sides of the body. The utility model can effectively buffer the fixing plate by arranging a buffer component, utilizing a first spring arranged on the upper surface of the first connecting plate and a second spring arranged on the lower surface of the first connecting plate, and can effectively improve the buffering performance of the movement and increase its practicability. By arranging the fixing component, the second connecting plate can be contacted with the ground by an electric telescopic rod in a stopped state, so that the stability and stability of the robot's walking mechanism can be effectively increased.

[0004] Although the device can facilitate the robot to walk and improve the stability and stability of the robot's walking mechanism, the device does not have a steering mechanism and does not have a shock absorption function. In view of this, we propose a walking steering mechanism for an industrial robot. Utility Model Content

[0005] The purpose of the utility model is to provide a walking and steering mechanism for an industrial robot to solve the problems raised in the above background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] The walking and steering mechanism of the industrial robot comprises a mounting frame, wherein a bidirectional motor is fixedly connected to the bottom of the inner wall of the mounting frame near the right side by bolts, and two output shafts of the bidirectional motor are coaxially connected to the mounting rods respectively, and one end of the mounting rod is fixedly connected to the walking wheel by bolts, and a rotating motor is fixedly connected to the bottom of the inner wall of the mounting frame near the left side by bolts, and the output shaft of the rotating motor is coaxially connected to the rotating rod, and the bottom end of the rotating rod passes through the top of the mounting frame and is fixedly connected to the n-type rotating frame by bolts, and a steering wheel is arranged between the two vertical beams of the n-type rotating frame, and the front and rear ends of the steering wheel are respectively connected to the front and rear surfaces of the inner wall of the n-type rotating frame by bearings A rotation connection is provided on the top of the mounting frame, and the shock absorbing mechanism includes a mounting plate, the top of the mounting frame is fixedly connected to a damping liquid container by bolts, the inner wall of the damping liquid container is slidably connected to a piston, the top of the piston is fixedly connected to a connecting rod by bolts, the top of the connecting rod passes through the top of the damping liquid container and is fixedly connected to the bottom of the mounting plate by bolts, the top of the mounting frame near the left and right sides is symmetrically fixedly connected to a limiting cylinder by bolts, the inner wall of the limiting cylinder is slidably connected to a slider, the bottom of the slider is fixedly connected to a spring, the top of the slider is fixedly connected to a moving rod by bolts, and the top of the moving rod is fixedly connected to the bottom of the mounting plate by bolts.

[0008] Preferably, a plurality of threaded holes are symmetrically provided at positions near the left and right sides of the top of the mounting plate, and the threaded holes are evenly and equidistantly arranged.

[0009] Preferably, a pad is fixed on the top of the mounting plate by glue, and the pad is made of rubber.

[0010] Compared with the prior art, the beneficial effects of the utility model are:

[0011] 1. The walking and steering mechanism of the industrial robot has a steering function by arranging a rotating motor, a rotating rod, an n-shaped rotating frame and a steering wheel;

[0012] 2. The walking and steering mechanism of the industrial robot has a shock absorbing function by setting a shock absorbing mechanism, which can buffer the vibration of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 This is a schematic diagram of the structure of the travel wheel in the utility model;

[0015] Figure 3 This is a schematic diagram of the structure of the steering wheel in the utility model;

[0016] Figure 4It is a structural schematic diagram of the shock absorbing mechanism in the utility model;

[0017] Figure 5 It is a schematic cross-sectional structural diagram of the damping liquid container in the utility model.

[0018] The meaning of each title in the figure is:

[0019] 1. Mounting frame; 11. Bidirectional motor; 12. Mounting rod; 13. Traveling wheel; 14. Rotating motor; 15. Rotating rod; 16. N-type rotating frame; 17. Steering wheel;

[0020] 2. Shock absorption mechanism; 21. Mounting plate; 22. Threaded hole; 23. Pad; 24. Damping fluid container; 25. Piston; 26. Connecting rod; 27. Limiting cylinder; 28. Slider; 281. Spring; 29. ​​Moving rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-Figure 5 , the utility model provides a technical solution:

[0023] The walking and steering mechanism of the industrial robot includes a mounting frame 1. A bidirectional motor 11 is fixedly connected to the bottom of the inner wall of the mounting frame 1 near the right side by bolts, and is used to drive two mounting rods 12 to rotate. The two output shafts of the bidirectional motor 11 are coaxially connected to the mounting rods 12 respectively, and are used to drive two walking wheels 13 to rotate. One end of the mounting rod 12 is fixedly connected to the walking wheel 13 by bolts, and is used to facilitate the movement of the device.

[0024] Furthermore, a rotating motor 14 is fixedly connected to the bottom of the inner wall of the mounting frame 1 near the left side by bolts to drive the rotating rod 15 to rotate. The output shaft of the rotating motor 14 is coaxially connected to the rotating rod 15 to drive the n-type rotating frame 16 to rotate.

[0025] It should be added that the bottom end of the rotating rod 15 passes through the top of the mounting frame 1 and is fixedly connected to the n-type rotating frame 16 by bolts, which is used to drive the steering wheel 17 to rotate. A steering wheel 17 is provided between the two vertical beams of the n-type rotating frame 16. The front and rear ends of the steering wheel 17 are respectively rotatably connected to the front and rear surfaces of the inner wall of the n-type rotating frame 16 through bearings, which is used to change the moving direction of the device.

[0026] As a preferred embodiment of the present invention, a shock absorbing mechanism 2 is provided on the top of the mounting frame 1. The shock absorbing mechanism 2 includes a mounting plate 21. A plurality of threaded holes 22 are symmetrically provided on the top of the mounting plate 21 near the left and right sides. The threaded holes 22 are evenly arranged at equal intervals to facilitate users to install the industrial robot on the top of the mounting plate 21.

[0027] Specifically, a pad 23 is fixed to the top of the mounting plate 21 by glue, and the pad 23 is made of rubber material and plays a shock-absorbing role.

[0028] Specifically, a damping liquid container 24 is fixedly connected to the top of the mounting frame 1 by bolts. The damping liquid container 24 is filled with damping liquid, and the damping liquid is located below the piston 25. The piston 25 is slidably connected to the inner wall of the damping liquid container 24 to form a damping structure with the damping liquid container 24 and the connecting rod 26. The viscosity of the damping liquid is utilized to achieve high damping effect, thereby improving the vibration isolation efficiency, thereby reducing vibration and noise.

[0029] Specifically, the top of the piston 25 is fixedly connected to a connecting rod 26 by bolts, and the top end of the connecting rod 26 passes through the top of the damping liquid container 24 and is fixedly connected to the bottom of the mounting plate 21 by bolts to drive the piston 25 to move.

[0030] Specifically, the top of the mounting frame 1 near the left and right sides is symmetrically fixedly connected with a limiting cylinder 27 by bolts to limit the moving direction of the slider 28, and the inner wall of the limiting cylinder 27 is slidably connected with the slider 28 to limit the moving direction of the moving rod 29.

[0031] Specifically, a spring 281 is fixedly connected to the bottom of the slider 28 to limit the position of the slider 28. A moving rod 29 is fixedly connected to the top of the slider 28 by bolts. The top of the moving rod 29 is fixedly connected to the bottom of the mounting plate 21 by bolts to limit the moving direction of the mounting plate 21.

[0032] It is worth mentioning that the structure and working principle of the damping liquid container 24 involved in this embodiment are well known to those skilled in the art and will not be elaborated here.

[0033] During specific use, when the device needs to turn, the user turns on the rotating motor 14, and the rotating motor 14 drives the rotating rod 15 to rotate, thereby driving the n-shaped rotating frame 16 to rotate, thereby driving the steering wheel 17 to rotate, so that the moving direction of the device changes, until the moving direction of the device reaches the specified moving direction, and then the rotating motor 14 can be turned off;

[0034] When the device is vibrated, the mounting plate 21 first drives the connecting rod 26 to move downward, thereby driving the piston 25 to slide downward along the inner wall of the damping liquid container 24, and relying on the viscous resistance of the damping liquid in the damping liquid container 24, the kinetic energy of the vibration of the device is attenuated, so that the mechanical energy of the vibration is converted into frictional heat energy, thereby consuming the vibration force;

[0035] During this process, the mounting plate 21 drives the two moving rods 29 to move downward respectively, thereby driving the two sliders 28 to move downward respectively, thereby compressing the two springs 281 respectively, until the vibration force is completely consumed, and the two springs 281 begin to restore their initial lengths, thereby driving the two sliders 28 to move upward respectively, thereby driving the two moving rods 29 to move upward respectively, thereby driving the mounting plate 21 to move upward, until the two springs 281 restore their initial lengths, and the mounting plate 21 returns to its initial position.

[0036] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A walking and steering mechanism for an industrial robot, comprising a mounting frame (1), characterized in that: A bidirectional motor (11) is fixedly connected to the bottom of the inner wall of the mounting frame (1) at a position close to the right side by bolts, two output shafts of the bidirectional motor (11) are respectively coaxially connected to the mounting rod (12), one end of the mounting rod (12) is fixedly connected to the walking wheel (13) by bolts, a rotating motor (14) is fixedly connected to the bottom of the inner wall of the mounting frame (1) at a position close to the left side by bolts, the output shaft of the rotating motor (14) is coaxially connected to the rotating rod (15), the bottom end of the rotating rod (15) passes through the top of the mounting frame (1) and is fixedly connected to the n-type rotating frame (16) by bolts, a steering wheel (17) is provided between the two vertical beams of the n-type rotating frame (16), the front and rear ends of the steering wheel (17) are respectively rotatably connected to the front and rear side surfaces of the inner wall of the n-type rotating frame (16) by bearings, and a shock absorbing mechanism is provided at the top of the mounting frame (1). (2), the shock absorbing mechanism (2) comprises a mounting plate (21), the top of the mounting frame (1) is fixedly connected to a damping liquid container (24) by bolts, the inner wall of the damping liquid container (24) is slidably connected to a piston (25), the top of the piston (25) is fixedly connected to a connecting rod (26) by bolts, the top of the connecting rod (26) passes through the top of the damping liquid container (24) and is fixedly connected to the bottom of the mounting plate (21) by bolts, the top of the mounting frame (1) is symmetrically fixedly connected to a limiting cylinder (27) by bolts near the left and right sides, the inner wall of the limiting cylinder (27) is slidably connected to a slider (28), the bottom of the slider (28) is fixedly connected to a spring (281), the top of the slider (28) is fixedly connected to a moving rod (29) by bolts, and the top of the moving rod (29) is fixedly connected to the bottom of the mounting plate (21) by bolts.

2. The walking and steering mechanism of an industrial robot according to claim 1, characterized in that: A plurality of threaded holes (22) are symmetrically provided at positions near the left and right sides of the top of the mounting plate (21), and the threaded holes (22) are evenly arranged at equal intervals.

3. The walking and steering mechanism of the industrial robot according to claim 2, characterized in that: A backing plate (23) is fixed to the top of the mounting plate (21) by gluing, and the backing plate (23) is made of rubber.

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