Stable moving device for robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a stable moving device for a robot, which comprises a base, a mounting table, a turntable, brake trundles and the like, a plurality of brake trundles are distributed in a square shape, are mounted at the bottom end of the base and are respectively positioned at a plurality of corners of the base, and the turntable is rotatably connected to the geometric center of the top end of the base. The mounting table is fixedly connected to the top end of the rotary table, and the mounting holes are arranged in a rectangular array and formed in the top end of the mounting table. Through the design of the rotating assembly, the angle of the robot body can be easily adjusted, so that the robot body can adapt to different working scenes, and diversified requirements are met; and through the design of a connecting plate, an air bag, a one-way air inlet pipe, an exhaust pipe and a valve, when the base collides in the moving process, the air bag can effectively absorb impact force, the safety of the device and the robot body in the moving process is protected, good buffering and anti-collision effects are achieved, and meanwhile damage to the surrounding environment is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a stable moving device for robots. Background Art

[0002] With the rapid development of science and technology, industrial robots, as a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field, are increasingly showing their strong application potential. They can automatically perform various complex tasks under programmed control, which not only improves production efficiency, but also greatly improves the accuracy and reliability of the manufacturing process. The widespread application of industrial robots is gradually changing the face of traditional manufacturing and promoting the process of industrial automation and intelligence.

[0003] The patent with the patent authorization announcement number CN222472502U discloses a stable mobile base for an industrial robot, including a mounting seat, a mounting groove is provided on the upper surface of the mounting seat, sliding grooves are provided on both sides of the inner surface of the mounting groove, a motor is fixedly connected to one end of the inner side of the sliding groove, and mounting plates are slidably connected to the inner ends of the sliding groove. Although the above patent can realize the clamping of the industrial robot through the motor, the screw rod and the mounting plate, and facilitate the fixing operation of the industrial robot, in actual application, after the industrial robot is fixed on the mounting seat, its angle is relatively fixed, and it is difficult to adapt to the angle requirements in different working scenes, which limits the flexibility and application scope of the industrial robot. At the same time, in the process of moving the industrial robot to the destination, the mounting seat is at risk of colliding with external objects, which may cause damage to the mounting seat, the industrial robot or the surrounding environment.

[0004] Therefore, there is a particular need for a stable moving device for a robot to solve the above problems. Utility Model Content

[0005] In order to overcome the shortcomings of the existing patents that after the industrial robot is fixed, its angle is fixed, its flexibility and application range are limited, and there is a risk of collision and damage during movement, the utility model provides a stable moving device for the robot.

[0006] The utility model is realized by the following technical means: a stable moving device for a robot, comprising a base, a mounting platform, a rotating component, a turntable, a brake caster, a clamping component, a push rod and a controller, wherein a plurality of brake casters are distributed in a mouth shape, mounted on the bottom end of the base, and respectively located at a plurality of corners of the base, the turntable is rotatably connected to the position of the geometric center of the top end of the base, the mounting platform is fixed to the top end of the turntable, a plurality of mounting holes are arranged in a rectangular array, and are opened at the top end of the mounting platform, the rotating component is arranged between the mounting platform and the turntable, the clamping component is arranged on the mounting platform, the push rod is fixed to the rear part of the mounting platform, the controller is installed at a position slightly left of the front part of the mounting platform, and also comprises a connecting plate, an air bag, a one-way air inlet pipe, an exhaust pipe and a valve, a plurality of connecting plates are distributed in a mouth shape, and are fixed to the base, each air bag is fixed to each connecting plate, each one-way air inlet pipe is fixed to one end of each air bag, each exhaust pipe is fixed to the other end of each air bag, a plurality of valves that fit closely together form a group, and there are four groups in total, and each group of valves is fixed to the inside of the upper end of each exhaust pipe.

[0007] Optionally, the clamping assembly includes a second motor, a bidirectional screw, a slide plate, a sleeve, a clamping rod and a spring, the first second motor is installed on the left side of the mounting platform, and its output shaft faces right, the second second motor is installed on the front part of the mounting platform, and its output shaft faces rearward, the two second motors are electrically connected to the controller, and the two bidirectional screws with the same structure are staggered up and down to form a cross structure, which is rotatably connected to the inside of the mounting platform, wherein one bidirectional screw is fixedly matched with the output shaft of the first second motor through a coupling, and the other bidirectional screw is fixedly matched with the output shaft of the second second motor through a coupling. Two slides that are larger in size and aligned laterally are a group, which are threadedly connected to the outside of a bidirectional screw rod; two slides that are smaller in size and aligned longitudinally are a group, which are threadedly connected to the outside of another bidirectional screw rod. Both groups of slides are slidably matched with the mounting table, and multiple sleeves in the same vertical plane are a group, with a total of four groups. Each group of sleeves is embedded and fixed on each slide, and each clamping rod is slidably connected to the inside of each sleeve, and a rubber hemisphere is provided at the end away from the corresponding sleeve. Each spring is located inside each sleeve, one end of which is fixedly connected to the corresponding sleeve, and the other end is fixedly connected to the corresponding clamping rod.

[0008] Optionally, the rotating assembly includes a first motor, a worm and a worm gear shaft. The first motor is installed at the bottom end of the base, with its output shaft facing right, and the first motor is electrically connected to the controller. The worm is fixed to the output shaft of the first motor, and the worm gear shaft is rotatably connected to the inside of the base. Its upper end passes through the base and is fixedly matched with the bottom end of the turntable. The worm is located in front of the worm gear shaft and meshes with it.

[0009] Optionally, a support shaft is also included, which is fixed to the right end of the worm, with its left end extending to the inside of the right end of the worm, and the right end rotatingly cooperating with the right inner wall of the base.

[0010] Optionally, a folding plate is also included, each folding plate is fixed between the mounting platform and the corresponding slide plate, and is located above the two bidirectional screw rods to block the two bidirectional screw rods from above.

[0011] Optionally, an anti-slip sleeve is also included, and the anti-slip sleeve is sleeved on the cross bar on the upper part of the push rod.

[0012] Beneficial effects: 1. Through the design of the rotating component, the angle of the robot body can be easily adjusted, so that it can adapt to different working scenes and meet diverse needs; through the design of the connecting plate, airbag, one-way air inlet pipe, exhaust pipe and valve, when the base collides during movement, the airbag can effectively absorb the impact force, protect the device and the robot body during movement, play a good buffering and anti-collision role, and avoid damage to the surrounding environment.

[0013] 2. Through the pre-clamping design of the clamping component, the robot body can be quickly and accurately positioned and firmly clamped, which facilitates the installation and fixing process of the robot body and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0015] Figure 2 It is a three-dimensional structural schematic diagram of the base, mounting platform and mounting hole components of the utility model.

[0016] Figure 3 It is a schematic diagram of the explosion structure of the utility model.

[0017] Figure 4 It is a partial cross-sectional view of the mounting platform component of the utility model.

[0018] Figure 5 It is a partial cross-sectional view of the slide plate and sleeve components of the utility model.

[0019] Figure 6 It is a three-dimensional structural schematic diagram of the connecting plate, air bag, one-way air intake pipe and other components of the utility model.

[0020] Explanation of the accompanying drawings: 1. base, 2. mounting table, 21. mounting hole, 22. first motor, 23. worm, 231. support shaft, 24. worm gear shaft, 25. turntable, 3. brake caster, 4. second motor, 41. bidirectional screw, 42. slide plate, 43. sleeve, 44. clamping rod, 45. spring, 5. connecting plate, 51. airbag, 52. one-way air inlet pipe, 53. exhaust pipe, 54. valve, 6. folding plate, 7. push rod, 8. anti-slip sleeve, 9. controller, 10. robot body. DETAILED DESCRIPTION

[0021] The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0022] Embodiment: A stable moving device for a robot, such as Figure 1-Figure 6 As shown, it includes a base 1, a mounting platform 2, a rotating component, a turntable 25, a brake caster 3, a clamping component, a push rod 7, an anti-skid sleeve 8 and a controller 9. The four brake casters 3 are distributed in a U-shaped shape and are connected to the bottom end of the base 1 by bolts. They are respectively located at the four corners of the base 1. The turntable 25 is rotatably connected to the geometric center of the top of the base 1. The mounting platform 2 is connected to the top of the turntable 25 by welding. Four mounting holes 21 are arranged in a rectangular array and are opened at the top of the mounting platform 2. The rotating component is arranged between the mounting platform 2 and the turntable 25. The clamping component is arranged on the mounting platform 2. The push rod 7 is connected to the rear of the mounting platform 2 by welding. The controller 9 is connected to the left position of the front of the mounting platform 2 by bolts. The anti-skid sleeve 8 made of rubber is sleeved on the cross bar on the upper part of the push rod 7 to improve the comfort and anti-skid performance when holding. It also includes a connecting plate 5, an air bag 51, a one-way air intake pipe 52, an exhaust pipe 53 and valve 54, the four connecting plates 5 are distributed in a mouth shape and are connected to the base 1 by welding. Each airbag 51 is connected to each connecting plate 5 by bonding. Each one-way air inlet pipe 52 is connected to one end of each airbag 51 by bonding. Each exhaust pipe 53 is connected to the other end of each airbag 51 by bonding. The four valves 54 that fit tightly together form a group, and there are four groups in total. Each group of valves 54 is connected to the inside of the upper end of each exhaust pipe 53 by bonding. Gas is pumped into the airbag 51 through the one-way air inlet pipe 52. As the gas is continuously filled, the airbag 51 gradually expands. When the airbag 51 expands to a preset appropriate state, the inflation is stopped to ensure that the air pressure inside the airbag 51 is maintained within a normal range, to prevent the airbag 51 from breaking open the valve 54 due to excessive air pressure, to ensure that the cushioning and anti-collision functions of the airbag 51 are normally exerted, and to provide reliable safety protection for the device and the robot body 10.

[0023] like Figure 1 , Figure 4 and Figure 5As shown, the clamping assembly includes a second motor 4, a bidirectional screw 41, a slide plate 42, a sleeve 43, a clamping rod 44, a spring 45 and a folding plate 6. The first second motor 4 is connected to the left part of the mounting platform 2 by means of bolts, and its output shaft faces right. The second second motor 4 is connected to the front part of the mounting platform 2 by means of bolts, and its output shaft faces backward. Both second motors 4 are electrically connected to the controller 9. Two bidirectional screws 41 with the same structure are staggered up and down and form a cross structure, which is rotatably connected to the inside of the mounting platform 2. Among them, the upper bidirectional screw 41 is fixedly matched with the output shaft of the first second motor 4 through a coupling, and the lower bidirectional screw 41 is fixedly matched with the output shaft of the second second motor 4 through a coupling. The two slide plates 42 with larger sizes and aligned laterally are a group, which are threadedly connected to the outside of the upper bidirectional screw 41, and the two slide plates 42 with smaller sizes and aligned longitudinally are a group, which are threadedly connected to the outside of the lower bidirectional screw 41. , both groups of slide plates 42 are slidably matched with the mounting platform 2, and multiple sleeves 43 in the same vertical plane form a group, with a total of four groups, each group of sleeves 43 is connected to each slide plate 42 by welding, and each clamping rod 44 is slidably connected to the inside of each sleeve 43, and a rubber hemisphere is provided at the end away from the corresponding sleeve 43 to enhance the friction and protection effect during clamping, and each spring 45 is located inside each sleeve 43, one end of which is fixedly connected to the corresponding sleeve 43, and the other end is fixedly connected to the corresponding clamping rod 44, and each folding plate 6 is connected between the mounting platform 2 and the corresponding slide plate 42 by bonding, and is located above the two bidirectional screws 41, blocking the two bidirectional screws 41 from the top. When the slide plate 42 moves inward and approaches the robot body 10, the folding plate 6 is compressed by the squeeze of the slide plate 42, and continuously blocks the two bidirectional screws 41 from the top, preventing foreign matter from falling into the mounting platform 2 and affecting the normal movement of the two bidirectional screws 41.

[0024] like Figure 3 As shown, the rotating assembly includes a first motor 22, a worm 23, a support shaft 231 and a worm gear shaft 24. The first motor 22 is connected to the inner bottom end of the base 1 by means of bolts, and its output shaft faces right, and the first motor 22 is electrically connected to the controller 9. The worm 23 is connected to the output shaft of the first motor 22 by means of welding. The support shaft 231 is connected to the right end of the worm 23 by means of welding, and its left end extends to the inside of the right end of the worm 23, and the right end is rotatably matched with the right inner wall of the base 1, providing a second support for the worm 23 in addition to the output shaft of the first motor 22, ensuring the stability of the worm 23 during rotation. The worm gear shaft 24 is rotatably connected to the inside of the base 1, and its upper end passes through the base 1 and is fixedly matched with the bottom end of the turntable 25. The worm 23 is located in front of the worm gear shaft 24 and meshes with it.

[0025] Initially, the airbag 51 has been inflated to an expanded state. The operator first places the robot body 10 on the top of the mounting table 2 and ensures that the mounting components of the robot body 10 are aligned with the mounting holes 21. Then, the two second motors 4 are started through the controller 9. The output shafts thereof drive the two bidirectional screws 41 to rotate clockwise, driving the two sets of slide plates 42 to move inward until the clamping rod 44 contacts the surface of the robot body 10 for clamping. During the clamping process, the clamping rod 44 is first squeezed by the robot body 10 to slide into the sleeve 43 and compress the spring 45. The spring 45 applies a reaction force to the clamping rod 44 to ensure that the clamping rod 44 is in close contact with and firmly clamps the robot body 10. After the clamping is completed, the two second motors 4 are turned off.

[0026] Then, the robot body 10 is installed by matching the prepared bolts with the mounting holes 21. After the installation is completed, the push rod 7 is held by hand to move the robot body 10 to the work place. During the movement, once the base 1 accidentally hits an external object from any direction, the corresponding airbag 51 will contact the external object instead of the base 1. When the airbag 51 is contacted, it is squeezed, and the gas pressure inside it increases sharply. This pressure will break the valve 54 and open the exhaust pipe 53, so that the gas inside the airbag 51 is discharged, thereby playing a buffering role and protecting the device and the robot body 10 from damage.

[0027] When the robot body 10 is moved to the work site, the brake caster 3 is operated to fix the base 1, and finally the first motor 22 is started. Its output shaft drives the worm 23 to rotate clockwise and engage with the worm gear shaft 24. When engaged, the worm gear shaft 24 drives the turntable 25 to rotate counterclockwise to adjust the angle of the robot body 10. After the adjustment is completed, the first motor 22 is turned off.

[0028] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A stable mobile device for a robot, comprising a base (1), a mounting platform (2), a rotating assembly, a turntable (25), a brake caster (3), a clamping assembly, a push rod (7) and a controller (9), wherein a plurality of brake casters (3) are arranged in a square shape, mounted on the bottom of the base (1) and respectively located at a plurality of corners of the base (1), the turntable (25) is rotatably connected to the geometric center of the top of the base (1), the mounting platform (2) is fixed to the top of the turntable (25), a plurality of mounting holes (21) are arranged in a rectangular array and are opened at the top of the mounting platform (2), the rotating assembly is arranged between the mounting platform (2) and the turntable (25), the clamping assembly is arranged on the mounting platform (2), the push rod (7) is fixed to the rear of the mounting platform (2), and the controller (9) is installed at a position slightly left of the front of the mounting platform (2), characterized in that: It also includes a connecting plate (5), an air bag (51), a one-way air inlet pipe (52), an exhaust pipe (53) and a valve (54). The multiple connecting plates (5) are distributed in a square shape and are fixedly connected to the base (1). Each air bag (51) is fixedly connected to each connecting plate (5). Each one-way air inlet pipe (52) is fixedly connected to one end of each air bag (51). Each exhaust pipe (53) is fixedly connected to the other end of each air bag (51). The multiple valves (54) that fit tightly together form a group, and there are four groups in total. Each group of valves (54) is fixedly connected to the inside of the upper end of each exhaust pipe (53).

2. A stable moving device for a robot according to claim 1, characterized in that: The clamping assembly comprises a second motor (4), a bidirectional screw (41), a slide plate (42), a sleeve (43), a clamping rod (44) and a spring (45). The first second motor (4) is mounted on the left side of the mounting platform (2) with its output shaft facing rightward, and the second second motor (4) is mounted on the front side of the mounting platform (2) with its output shaft facing backward. Both second motors (4) are electrically connected to a controller (9). Two bidirectional screws (41) of the same structure are staggered and arranged up and down to form a cross structure, which is rotatably connected to the inside of the mounting platform (2). One bidirectional screw (41) is fixedly matched with the output shaft of the first second motor (4) through a coupling, and the other bidirectional screw (41) is fixedly matched with the output shaft of the second second motor (4) through a coupling. Two slide plates (42) with larger sizes and aligned transversely form a group, which are threadedly connected to the outside of a bidirectional screw rod (41); two slide plates (42) with smaller sizes and aligned longitudinally form a group, which are threadedly connected to the outside of another bidirectional screw rod (41); both groups of slide plates (42) are slidably matched with the mounting platform (2); a plurality of sleeves (43) located in the same vertical plane form a group, and there are four groups in total; each group of sleeves (43) is embedded and fixed on each slide plate (42); each clamping rod (44) is slidably connected to the inside of each sleeve (43); a rubber hemisphere is provided at one end thereof away from the corresponding sleeve (43); each spring (45) is located inside each sleeve (43); one end thereof is fixedly connected to the corresponding sleeve (43), and the other end thereof is fixedly connected to the corresponding clamping rod (44).

3. A stable moving device for a robot according to claim 2, characterized in that: The rotating assembly comprises a first motor (22), a worm (23) and a worm gear shaft (24); the first motor (22) is mounted at the bottom end of the base (1), with its output shaft facing rightward, and the first motor (22) is electrically connected to the controller (9); the worm (23) is fixedly connected to the output shaft of the first motor (22); the worm gear shaft (24) is rotatably connected to the inside of the base (1), and its upper end passes through the base (1) and is fixedly matched with the bottom end of the turntable (25); the worm (23) is located in front of the worm gear shaft (24) and meshes with it.

4. A stable moving device for a robot according to claim 3, characterized in that: It also includes a support shaft (231), which is fixedly connected to the right end of the worm (23), with its left end extending into the inside of the right end of the worm (23), and its right end rotatably engaged with the right inner wall of the base (1).

5. A stable moving device for a robot according to claim 4, characterized in that: It also includes folding plates (6), each folding plate (6) being fixed between the mounting platform (2) and the corresponding slide plate (42) and being located above the two bidirectional screw rods (41) so as to block the two bidirectional screw rods (41) from above.

6. A stable moving device for a robot according to claim 5, characterized in that: It also includes an anti-slip sleeve (8), which is sleeved on the cross bar on the upper part of the push rod (7).

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