A heavy-load robot mobile platform

Abstract

The utility model relates to the field of automated connection and feeding of machining centers, and in particular to a heavy-duty robot mobile platform. A heavy-duty robot mobile platform comprises: a mobile chassis for installing a manipulator, a drag chain sheet metal, a plurality of universal support wheels, two walking mechanisms, two laser distance measuring sensors for detecting the distance of the drag chain sheet metal, and an infrared diffuse reflection photoelectric switch for controlling the walking mechanism to stop moving; the universal support wheels, the walking mechanism, the laser distance measuring sensor, and the infrared diffuse reflection photoelectric switch are installed on the mobile chassis; the drag chain sheet metal is fixed to the ground; the mobile chassis is connected with a drag chain; the drag chain is arranged in the drag chain sheet metal; the walking mechanism comprises: a differential wheel, a motor, and a reducer; the universal support wheels and the differential wheels jointly support the walking of the mobile chassis on the ground. The beneficial effects of the utility model are: reducing the deployment cost of the automated connection project of the machining center and ensuring the stability and precision of the manipulator when working.

Description

Technical Field

[0001] The utility model relates to the field of automatic line feeding of a machining center, in particular to a heavy-load robot mobile platform. Background Art

[0002] In the process of using manipulators to complete the automated connection of machining centers, the robot ground rail solution is generally adopted, or the traditional AGV cart is used to carry the manipulator for feeding. The robot ground rail used in the traditional solution has the disadvantages of high deployment cost and complex on-site installation. The battery life of traditional AGV carts is affected by the battery, and other carts are required to work in shifts, which increases the deployment cost. In addition, the traditional AGV chassis cannot guarantee the stability of the heavy manipulator working on the chassis, and cannot meet the precision requirements of the machining center for precise loading and unloading. Utility Model Content

[0003] The purpose of the utility model is to provide a heavy-load robot mobile platform to solve the problems raised in the above background technology.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A heavy-load robot mobile platform, comprising: a mobile chassis for installing a manipulator, a drag chain sheet metal, a plurality of universal support wheels, two walking mechanisms, two laser distance measuring sensors for detecting the distance of the drag chain sheet metal, and an infrared diffuse reflection photoelectric switch for controlling the walking mechanism to stop moving;

[0006] Universal support wheels, walking mechanism, laser distance measuring sensor and infrared diffuse reflection photoelectric switch are installed on the mobile chassis; the drag chain sheet metal is fixed to the ground; the mobile chassis is connected with the drag chain; the drag chain is set in the drag chain sheet metal;

[0007] The walking mechanism includes: a differential wheel, a motor and a reducer; the universal support wheel and the differential wheel jointly support the walking of the mobile chassis on the ground; the motor drives the differential wheel to rotate through the reducer; two laser ranging sensors are arranged along the extension direction of the drag chain sheet metal; the motors of the two walking mechanisms adjust the speed according to the distance fed back by the laser ranging sensor in real time, so that the mobile chassis can walk in a straight line along the drag chain sheet metal; a baffle for triggering the infrared diffuse reflection photoelectric switch is provided on the drag chain sheet metal.

[0008] As a further implementation of the utility model, the mobile chassis is arranged above the drag chain sheet metal; and the two walking mechanisms are respectively arranged on both sides of the drag chain sheet metal.

[0009] As a further embodiment of the present utility model, each walking mechanism is provided with a shock absorbing mechanism; the walking mechanism is installed to the mobile chassis through the shock absorbing mechanism; the shock absorbing mechanism includes: a damping member, a guide column and a movable seat; the mobile chassis is provided with a fixed seat; the fixed seat moves up and down along the guide column; the guide column is fixed to the movable seat; the damping member is arranged between the movable seat and the fixed seat; the walking mechanism is installed to the movable seat.

[0010] As a further embodiment of the present invention, the reducer is fixed to the movable seat.

[0011] As a further implementation of the present utility model, there are multiple guide columns; the multiple guide columns are arranged around the damping element.

[0012] As a further embodiment of the present invention, the shock absorbing mechanism further includes: an upper limit plate; a fixed seat located between the upper limit plate and the movable seat; and a guide column fixed to the upper limit plate.

[0013] As a further implementation of the present invention, the damping element is a spring.

[0014] As a further embodiment of the present utility model, a heavy-load robot mobile platform also includes: a support mechanism; the support mechanism includes: a support motor, a lifting frame, a screw, a screw nut and a support foot; the mobile chassis is provided with a support seat; the lifting frame is slidably mounted to the support seat; the lifting frame includes: a plurality of sliding rods for guiding the lifting frame to slide relative to the support seat; the sliding rod passes through the support seat; the screw rod is rotatably mounted to the lifting frame; the screw nut is mounted to the support seat; the screw rod and the screw nut constitute a screw nut transmission mechanism; the motor is mounted to the top of the lifting frame; the motor drives the screw rod to rotate and drives the screw nut to move along the screw rod so that the lifting frame can be lifted and lowered relative to the support seat; the support foot is mounted to the bottom of the lifting frame.

[0015] As a further implementation of the present invention, the number of the supporting mechanisms is 4; the 4 supporting mechanisms are symmetrically arranged on both sides of the mobile chassis.

[0016] As a further implementation of the present invention, the support foot is configured as a universal support foot.

[0017] As a further implementation of the present invention, there are multiple sliding rods; the multiple sliding rods are arranged around the screw rod.

[0018] The utility model is beneficial in that the deployment cost of the automated connection project of the machining center is reduced, and the stability and accuracy of the manipulator when working are ensured.

[0019] Other features and advantages of the present invention will be disclosed in detail in the following specific implementations and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional diagram of a heavy-load robot mobile platform as an embodiment of the utility model;

[0021] Figure 2 yes Figure 1 A plan view of a heavy-load robot mobile platform;

[0022] Figure 3 yes Figure 1 A schematic diagram of a heavy-duty robot mobile platform after removing the drag chain sheet metal and drag chain;

[0023] Figure 4 yes Figure 3 A bottom perspective view of the structure in FIG.

[0024] Figure 5 yes Figure 4 A local enlarged view of the structure at A;

[0025] Figure 6 yes Figure 3 Schematic diagram of the walking mechanism and shock absorbing mechanism of the structure;

[0026] Figure 7 yes Figure 3 Schematic diagram of the supporting mechanism of the structure.

[0027] List of reference numerals: heavy-duty robot mobile platform 100, manipulator 101, mobile chassis 10, fixed seat 11, support seat 12, drag chain sheet metal 20, drag chain 21, universal support wheel 30, walking mechanism 40, differential wheel 41, motor 42, reducer 43, laser ranging sensor 50, infrared diffuse reflection photoelectric switch 60, baffle 61, shock absorbing mechanism 70, damping member 71, guide column 72, movable seat 73, upper limit plate 74, support mechanism 80, support motor 81, lifting frame 82, slide rod 821, upper plate 822, lower plate 823, screw rod 83, screw rod nut 84, support foot 85. DETAILED DESCRIPTION

[0028] 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.

[0029] like Figures 1 to 7As shown, a heavy-load robot mobile platform 100 includes: a mobile chassis 10 for installing a manipulator 101, a drag chain sheet metal 20, a plurality of universal support wheels 30, two walking mechanisms 40, two laser ranging sensors 50 for detecting the distance of the drag chain sheet metal 20, and an infrared diffuse reflection photoelectric switch 60 for controlling the walking mechanism 40 to stop moving.

[0030] Universal support wheels 30, walking mechanism 40, laser distance measuring sensor 50 and infrared diffuse reflection photoelectric switch 60 are installed to mobile chassis 10. Drag chain sheet metal 20 is fixed to the ground. Drag chain 21 is connected to mobile chassis 10. Drag chain 21 is arranged in drag chain sheet metal 20.

[0031] The walking mechanism 40 includes: a differential wheel 41, a motor 42 and a reducer 43. The universal support wheel 30 and the differential wheel 41 jointly support the moving chassis 10 to move on the ground. The motor 42 drives the differential wheel 41 to rotate through the reducer 43. Two laser distance sensors 50 are arranged along the extension direction of the drag chain sheet metal 20. The motors 42 of the two walking mechanisms 40 adjust the speed according to the distance fed back in real time by the laser distance sensor 50, so that the moving chassis 10 moves in a straight line along the drag chain sheet metal 20. A baffle 61 for triggering the infrared diffuse reflection photoelectric switch 60 is provided on the drag chain sheet metal 20.

[0032] Specifically, the number of the universal support wheels 30 is 4. The 4 universal support wheels 30 are symmetrically arranged on both sides of the mobile chassis 10.

[0033] According to the detection data of the two laser distance measuring sensors 50, the distances from the two laser distance measuring sensors 50 to the drag chain sheet metal 20 can be determined, so as to determine whether the moving direction of the mobile chassis 10 is deflected. When there is a deflection, the differential wheels 41 of the two walking mechanisms 40 are controlled to achieve differential speed, so as to correct the moving direction, thereby controlling the distance from the laser distance measuring sensor 50 to the drag chain sheet metal 20, that is, controlling the distance of the mobile chassis 10 relative to the drag chain sheet metal 20. When the mobile chassis 10 moves to the position where the baffle 61 blocks the infrared diffuse reflection photoelectric switch 60, the infrared diffuse reflection photoelectric switch 60 detects that the baffle 61 is triggered, and determines that the current position has reached the next station of the automated assembly line, that is, the position where the manipulator loads materials, and the motor 42 of the walking mechanism 40 is turned off to stop the movement of the mobile chassis 10.

[0034] As a specific implementation, the mobile chassis 10 is arranged above the drag chain sheet metal 20. Two walking mechanisms 40 are arranged on both sides of the drag chain sheet metal 20 respectively.

[0035] As a preferred embodiment, each walking mechanism 40 is provided with a shock absorbing mechanism 70. The walking mechanism 40 is mounted to the mobile chassis 10 through the shock absorbing mechanism 70. The shock absorbing mechanism 70 includes: a damping member 71, a guide column 72 and a movable seat 73. The mobile chassis 10 is provided with a fixed seat 11. The fixed seat 11 moves up and down along the guide column 72. The guide column 72 is fixed to the movable seat 73. The damping member 71 is arranged between the movable seat 73 and the fixed seat 11. The walking mechanism 40 is mounted to the movable seat 73. Specifically, the reducer 43 is fixed to the movable seat 73. There are multiple guide columns 72. Multiple guide columns 72 are arranged around the damping member 71. Specifically, the number of guide columns 72 is 4. As a specific embodiment, the damping member 71 is a spring. As an optional embodiment, the damping member can also be a magnetic damper or an air damper.

[0036] The shock absorbing mechanism 70 further includes an upper limit plate 74. The fixed seat 11 is located between the upper limit plate 74 and the movable seat 73. The guide column 72 is fixed to the upper limit plate 74. The upper limit plate 74 can prevent the shock absorbing mechanism 70 from being separated from the mobile chassis 10 when the mobile chassis 10 is hoisted. When the mobile chassis 10 passes through a pothole road, the shock absorbing mechanism 70 can ensure that the differential wheel 41 is subjected to sufficient downward force without slipping.

[0037] As a preferred implementation, a heavy-load robot mobile platform 100 further includes: a supporting mechanism 80 .

[0038] The supporting mechanism 80 includes: a supporting motor 81 , a lifting frame 82 , a screw 83 , a screw nut 84 and a supporting foot 85 .

[0039] The mobile chassis 10 is provided with a support seat 12. A lifting frame 82 is slidably mounted to the support seat 12. The lifting frame 82 includes: a plurality of slide bars 821 for guiding the lifting frame 82 to slide relative to the support seat 12. The slide bars 821 pass through the support seat 12. A screw rod 83 is rotatably mounted to the lifting frame 82. A screw nut 84 is mounted to the support seat 12. The screw rod 83 and the screw nut 84 constitute a screw nut transmission mechanism.

[0040] The motor 42 is mounted on the top of the lifting frame 82. The motor 42 drives the screw 83 to rotate and drives the screw nut 84 to move along the screw 83 so that the lifting frame 82 moves up and down relative to the support base 12. The support foot 85 is mounted on the bottom of the lifting frame 82.

[0041] Specifically, the number of the supporting mechanisms 80 is 4. The 4 supporting mechanisms 80 are symmetrically arranged on both sides of the mobile chassis 10.

[0042] After reaching the working position, the support mechanism 80 works to contact the ground for support, thereby improving the stability of the mobile chassis 10 .

[0043] The support foot 85 is configured as a universal support foot 85, so as to ensure that when encountering an undulating ground, the support mechanism 80 still has a large contact area with the ground.

[0044] There are multiple slide bars 821. The multiple slide bars 821 are arranged around the screw rod 83. Specifically, there are four slide bars 821.

[0045] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0046] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A heavy-load robot mobile platform (100), characterized in that: include: A mobile chassis (10) for mounting a manipulator (101), a drag chain sheet metal (20), a plurality of universal support wheels (30), two walking mechanisms (40), two laser distance measuring sensors (50) for detecting the distance of the drag chain sheet metal (20), and an infrared diffuse reflection photoelectric switch (60) for controlling the walking mechanism (40) to stop moving; The universal support wheel (30), the walking mechanism (40), the laser distance measuring sensor (50) and the infrared diffuse reflection photoelectric switch (60) are mounted on the mobile chassis (10); the drag chain sheet metal (20) is fixed to the ground; the mobile chassis (10) is connected to a drag chain (21); the drag chain (21) is arranged in the drag chain sheet metal (20); The walking mechanism (40) comprises: a differential wheel (41), a motor (42) and a reducer (43); the universal support wheel (30) and the differential wheel (41) jointly support the moving chassis (10) to move on the ground; the motor (42) drives the differential wheel (41) to rotate via the reducer (43); the two laser distance measuring sensors (50) are arranged along the extension direction of the drag chain sheet metal (20); the motors (42) of the two walking mechanisms (40) adjust the speed according to the distance fed back in real time by the laser distance measuring sensors (50), so that the moving chassis (10) moves in a straight line along the drag chain sheet metal (20); and a baffle (61) for triggering the infrared diffuse reflection photoelectric switch (60) is provided on the drag chain sheet metal (20).

2. The heavy-load robot mobile platform (100) according to claim 1, characterized in that: The mobile chassis (10) is arranged above the drag chain sheet metal (20); and the two walking mechanisms (40) are respectively arranged on both sides of the drag chain sheet metal (20).

3. The heavy-load robot mobile platform (100) according to claim 1, characterized in that: Each of the walking mechanisms (40) is provided with a shock absorbing mechanism (70); the walking mechanism (40) is mounted to the mobile chassis (10) via the shock absorbing mechanism (70); the shock absorbing mechanism (70) comprises: a damping member (71), a guide column (72) and a movable seat (73); the mobile chassis (10) is provided with a fixed seat (11); the fixed seat (11) moves up and down along the guide column (72); the guide column (72) is fixed to the movable seat (73); the damping member (71) is arranged between the movable seat (73) and the fixed seat (11); and the walking mechanism (40) is mounted to the movable seat (73).

4. The heavy-load robot mobile platform (100) according to claim 3, characterized in that: The reducer (43) is fixed to the movable seat (73).

5. The heavy-load robot mobile platform (100) according to claim 3, characterized in that: There are a plurality of guide columns (72); the plurality of guide columns (72) are arranged around the damping member (71).

6. The heavy-load robot mobile platform (100) according to claim 5, characterized in that: The shock absorbing mechanism (70) further comprises: an upper limit plate (74); the fixed seat (11) is located between the upper limit plate (74) and the movable seat (73); and the guide column (72) is fixed to the upper limit plate (74).

7. The heavy-load robot mobile platform (100) according to claim 1, characterized in that: The heavy-load robot mobile platform (100) further comprises: a support mechanism (80); The support mechanism (80) comprises: a support motor (81), a lifting frame (82), a screw rod (83), a screw rod nut (84) and a support foot (85); The mobile chassis (10) is provided with a support seat (12); the lifting frame (82) is slidably mounted on the support seat (12); the lifting frame (82) comprises: a plurality of sliding rods (821) for guiding the lifting frame (82) to slide relative to the support seat (12); the sliding rods (821) pass through the support seat (12); the screw rod (83) is rotatably mounted on the lifting frame (82); the screw rod nut (84) is mounted on the support seat (12); the screw rod (83) and the screw rod nut (84) constitute a screw rod nut transmission mechanism; The motor (42) is mounted on the top of the lifting frame (82); the motor (42) drives the screw rod (83) to rotate, driving the screw rod nut (84) to move along the screw rod (83), thereby causing the lifting frame (82) to move up and down relative to the support seat (12); and the support foot (85) is mounted on the bottom of the lifting frame (82).

8. The heavy-load robot mobile platform (100) according to claim 7, characterized in that: The number of the supporting mechanisms (80) is four; the four supporting mechanisms (80) are symmetrically arranged on both sides of the mobile chassis (10).

9. The heavy-load robot mobile platform (100) according to claim 7, characterized in that: The support foot (85) is configured as a universal support foot (85).

10. The heavy-load robot mobile platform (100) according to claim 7, characterized in that: There are multiple sliding rods (821); the multiple sliding rods (821) are arranged around the screw rod (83).

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