Z-axis ground support structure of roadway robot

Abstract

The utility model relates to a roadway robot Z-axis ground support structure which is characterized in that a connecting frame is fixedly connected between the bottoms of Z axes, two ends of the connecting frame are respectively provided with a set of support assembly, and each support assembly comprises a mounting plate fixed with the bottom of the corresponding Z axis. Supporting bases which can be synchronously unfolded to be supported on the ground or synchronously folded to be separated from the ground are arranged on the bottom face of the mounting plate in a front-back spaced mode. The supporting assembly is arranged at the bottom of the Z shaft, and the supporting seats of the supporting assembly move close to each other to be synchronously unfolded and supported on the ground or move away from each other to be synchronously folded to be separated from the ground, so that supporting of the Z shaft is stabilized, and the phenomenon that the gravity center of the Z shaft is unstable when heavy goods are grabbed is effectively prevented; and the operation stability of the roadway robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a Z-axis ground support structure of a tunnel robot. Background Art

[0002] Tunnel robots can be used to grab goods stored in underground tunnels or stack goods in the tunnels. When the tunnel robot is operating, its terminal Z-axis is generally placed on the ground, and the robot reaches into the tunnel through the lifting gripper to grab the goods and lift them up or stack the goods in the tunnel.

[0003] However, when the Z-axis of the end section of the roadway robot is placed on the ground, there is a planar contact between the Z-axis and the ground, which is not stable enough. Especially when the robot's fork is extended into the roadway to grab or stack goods, if the goods are heavy, it is easy for the center of gravity to become unstable, causing the entire roadway robot to tilt, affecting the normal operation of the robot, and in serious cases, causing production safety accidents. Utility Model Content

[0004] The technical problem to be solved by the present invention is: in order to overcome the deficiencies in the prior art, the present invention provides a ground support structure for ensuring the stability of the Z-axis support of a tunnel robot.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a Z-axis ground support structure for a tunnel robot, a connecting frame is fixed between the bottom of the Z-axis, and a set of support components are respectively provided at both ends of the connecting frame. The support components include a mounting plate fixed to the bottom of the Z-axis, and support seats are provided at the front and rear of the bottom of the mounting plate, which can be synchronously expanded to support on the ground, or synchronously retracted to leave the ground.

[0006] Specifically, the support assembly includes a pair of nut seats that can move closer or farther in the front and rear directions, a first support is fixed to the bottom of the nut seat, a second support is fixed to the mounting plate outside the nut seat, a rocker arm is provided between the first support and the support seat, and a connecting rod is provided between the second support and the rocker arm, the upper end of the rocker arm is hinged to the first support, the lower end of the rocker arm is hinged to the support seat, the upper end of the connecting rod is hinged to the second support, and the lower end of the connecting rod is hinged to the middle part of the rocker arm.

[0007] Furthermore, in order to realize the support seat to move closer or farther, a linear guide rail is fixed to the bottom surface of the mounting plate, a slider is slidingly provided on the linear guide rail, the nut seat is fixed to the bottom surface of the slider, a screw nut with opposite rotation direction is installed in the nut seat, and a screw is rotatably provided on the mounting plate to be connected to the screw nut to realize the nut seat to move closer or farther in the front and rear directions.

[0008] In order to drive the screw to rotate, a torque arm bracket is fixed at one end of the mounting plate, and screw seats are fixed at the front and rear ends of the mounting plate respectively. The two ends of the screw are rotatably supported between the screw seats, and a reduction motor is installed on the torque arm bracket. The output shaft of the reduction motor is transmission-connected to the screw.

[0009] In order to improve the anti-slip effect after support, an Oxford board is fixed to the bottom surface of the support seat.

[0010] Furthermore, to facilitate installation and connection, the bottom of the Z-axis has a base plate, the base plate is fixed to both ends of the connecting frame, and the mounting plate is fixed to the bottom surface of the base plate.

[0011] The beneficial effect of the present invention is that the present invention arranges a support assembly at the bottom of the Z-axis, and utilizes the support seat of the support assembly to move close to each other and synchronously expand and support on the ground, or move away from each other and synchronously retract and leave the ground, so as to stabilize the support of the Z-axis, effectively prevent the center of gravity of the Z-axis from becoming unstable when grabbing heavier goods, and improve the operation stability of the tunnel robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0013] Figure 1 It is a structural diagram of the present utility model.

[0014] Figure 2 It is a side structural schematic diagram of the support assembly of the present invention.

[0015] Figure 3 It is a bottom view structural diagram of the support assembly of the utility model.

[0016] In the figure: 1. Z-axis, 2. Connecting frame, 3. Mounting plate, 4. Support seat, 5. Nut seat, 6. First support, 7. Second support, 8. Rocker arm, 9. Connecting rod, 10. Linear guide, 11. Slider, 12. Screw nut, 13. Screw, 14. Torque arm bracket, 15. Screw seat, 16. Reducer motor, 17. Oxford plate, 18. Base plate, 19. Support assembly. DETAILED DESCRIPTION

[0017] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0018] like Figures 1 to 3The Z-axis ground support structure of a tunnel robot shown is installed at the bottom of two Z-axes 1 separated from each other. A base plate 18 is fixed to the bottom of the Z-axis 1, and a connecting frame 2 is fixed between the base plates 18 of the two Z-axes 1. A set of support components 19 are respectively provided on the bottom surface of the base plates 18 outside the end of the connecting frame 2. The support components 19 have support seats 4 arranged at a front and rear distance, which are supported on the bottom surface when synchronously expanded outward and are separated from the ground when synchronously retracted inward.

[0019] Specifically, the support assembly 19 includes a mounting plate 3 fixed to the bottom surface of the base plate 18 at the bottom of the Z-axis 1, and a screw-nut mechanism is provided on the inner side of the bottom surface of the mounting plate 3, and the screw-nut mechanism includes a pair of nut seats 5 and a screw 13 set at a distance from each other, and the nut seat 5 includes a connecting block and a seat body of an integral structure, and a screw nut 12 with opposite rotation directions is installed in the seat body of the nut seat 5, and a torque arm bracket 14 is fixed at one end of the mounting plate 3, and screw seats 15 are respectively fixed at the front and rear ends of the bottom of the mounting plate 3, and the two ends of the screw 13 are rotatably supported between the screw seats 15, and a reduction motor 16 is installed on the torque arm bracket 14, and the output shaft of the reduction motor 16 is transmission-connected to the screw 13, and the screw 13 is transmission-connected to the screw nut 12, thereby realizing the nut seat 5 to move close or far in the front and rear directions of the mounting plate 3.

[0020] A linear guide rail 10 is fixed on the outside of the bottom surface of the mounting plate 3, and two sliders 11 are slidingly provided on the linear guide rail 10. The connecting block of the nut seat 5 is fixed to the bottom surface of the slider 11. The first support 6 is fixed to the bottom of the nut seat 5, and the second support 7 is fixed on the mounting plate 3 outside the nut seat 5. A rocker arm 8 is provided between the first support 6 and the support seat 4, and a connecting rod 9 is provided between the second support 7 and the rocker arm 8. The upper end of the rocker arm 8 is hinged to the first support 6, and the lower end of the rocker arm 8 is hinged to the support seat 4. The upper end of the connecting rod 9 is hinged to the second support 7, and the lower end of the connecting rod 9 is hinged to the middle part of the rocker arm 8.

[0021] In order to improve the stability of the support assembly 19 during the support process, an anti-slip Oxford board 17 is fixed to the bottom surface of the support base 4.

[0022] When the alley robot is operating to grab goods, the reduction motor 16 drives the slider 11 to move outward synchronously through the screw and nut mechanism, so that the support seat 4 is synchronously expanded and supported on the ground to stabilize the support of the Z axis 1. The robot's hand can reach into the alley to grab goods. This effectively prevents the center of gravity of the Z axis 1 from becoming unstable when grabbing heavier goods, thereby improving the operation stability of the alley robot. After the goods are grabbed, the support seat 4 is synchronously retracted inward and disengaged from the ground under the drive of the screw and nut mechanism.

[0023] Based on the above-mentioned ideal embodiment of the present invention, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. A Z-axis ground support structure for a roadway robot, wherein a connecting frame (2) is fixedly connected between the bottoms of the Z-axis (1), and wherein: A set of support components (19) is respectively provided at both ends of the connecting frame (2), and the support component (19) includes a mounting plate (3) fixed to the bottom of the Z axis (1), and support seats (4) are provided at intervals in front and back of the bottom of the mounting plate (3) and can be synchronously extended to support on the ground, or synchronously retracted to be away from the ground.

2. The Z-axis ground support structure of the roadway robot according to claim 1, characterized in that: The support assembly (19) includes a pair of nut seats (5) that can move closer or farther in the front-back direction, a first support (6) is fixed to the bottom of the nut seat (5), a second support (7) is fixed to the mounting plate (3) outside the nut seat (5), a rocker (8) is provided between the first support (6) and the support seat (4), a connecting rod (9) is provided between the second support (7) and the rocker (8), the upper end of the rocker (8) is hinged to the first support (6), the lower end of the rocker (8) is hinged to the support seat (4), the upper end of the connecting rod (9) is hinged to the second support (7), and the lower end of the connecting rod (9) is hinged to the middle of the rocker (8).

3. The Z-axis ground support structure of the tunnel robot according to claim 2, characterized in that: A linear guide rail (10) is fixed to the bottom surface of the mounting plate (3), a slider (11) is slidably provided on the linear guide rail (10), the nut seat (5) is fixed to the bottom surface of the slider (11), a screw nut (12) with opposite rotation directions is installed in the nut seat (5), and a screw (13) is rotatably provided on the mounting plate (3) and is transmission-connected with the screw nut (12) to enable the nut seat (5) to move closer or farther in the front and rear directions.

4. The Z-axis ground support structure of the tunnel robot according to claim 3, characterized in that: A torque arm bracket (14) is fixed to one end of the mounting plate (3), and screw seats (15) are fixed to the front and rear ends of the mounting plate (3), and the two ends of the screw (13) are rotatably supported between the screw seats (15). A reduction motor (16) is installed on the torque arm bracket (14), and the output shaft of the reduction motor (16) is transmission-connected to the screw (13).

5. The Z-axis ground support structure of the tunnel robot according to claim 1, characterized in that: An Oxford board (17) for preventing slipping is fixed on the bottom surface of the support seat (4).

6. The Z-axis ground support structure of the tunnel robot according to claim 1, characterized in that: The bottom of the Z-axis (1) is provided with a base plate (18), the base plate (18) is fixed to both ends of the connecting frame (2), and the mounting plate (3) is fixed to the bottom surface of the base plate (18).

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